Sökning: "sliding mode control"

Visar resultat 1 - 5 av 14 avhandlingar innehållade orden sliding mode control.

  1. 1. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. LÄS MER

  3. 2. Analysis and Design of Hybrid Control Systems

    Författare :Jörgen Malmborg; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Lyapunov theory; Mode switching; Multi-controllers; PID control; Simulation; Higher order sliding; Hybrid control; Sliding modes; Automation; robotics; control engineering; Automatiska system; robotteknik; reglerteknik;

    Sammanfattning : Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. LÄS MER

  4. 3. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : .... LÄS MER

  5. 4. Control Lyapunov Functions : A Control Strategy for Damping of Power Oscillations in Large Power Systems

    Författare :Mehrdad Ghandhari; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; UPFC; CSC; QBT; Lyapunov function; Control Lyapunov Function; SIME; Sliding mode; Electric power engineering; Elkraftteknik;

    Sammanfattning : In the present climate of deregulation and privatisation, theutilities are often separated into generation, transmission anddistribution companies so as to help promote economic efficiencyand encourage competition. Also, environmental concerns,right-of-way and cost problems have delayed the construction ofboth generation facilities and new transmission lines while thedemand for electric power has continued to grow, which must bemet by increased loading of available lines. LÄS MER

  7. 5. High precision motion control based on a discrete-time sliding mode approach

    Författare :Yufeng Li; KTH; []
    Nyckelord :variable structure; sliding mode; discrete-time; high precision motion control; friction; flexibility; robust; electro-mechanical system;

    Sammanfattning : .... LÄS MER