搜索结果: 1-14 共查到“工学 Sliding mode”相关记录14条 . 查询时间(0.169 秒)
Neuro-sliding mode control of piezo-positioning mechanism
Neuro-Sliding mode Piezo-positioning mechanism LuGre model
2010/11/25
In this work, a Neuro-Sliding mode controller (NSMC) for piezo-positioning mechanism (PEA) was designed. This controller takes into account parameter uncertainties and unknown external disturbances. T...
Fractional order sliding mode control with reaching law approach
Sliding mode control fractional order control reaching law approach
2010/9/30
Fractional order sliding mode control is studied in this paper. The control objectives are achieved by adopting the reaching law approach of sliding mode control. The main contribution of this work is...
静液传动系统自适应模糊滑模控制（Adaptive Fuzzy Sliding Mode Control for Hydrostatic Transmission System）
静液传动 滑模变结构控制 自适应模糊控制
2010/1/28
针对静液传动系统的速度控制问题，提出一种带有摩擦力矩补偿的自适应模糊滑模的设计方案。引入摩擦力矩动态补偿的方法，对摩擦力矩进行动态实时补偿，提高系统的响应速度和稳态误差。采用自适应模糊滑模控制解决因系统的不确定性及干扰的存在而不能准确控制的问题，使控制器的设计不依赖于被控对象的精确数学模型。基于李雅普诺夫函数推导出规则参数调整的自适应率，保证闭环控制系统的稳定性，并削弱了高频抖振。仿真结果表明该方...
SLIDING-MODE ADAPTIVE CONTROL OF PIONEER 3-DX WHEELED MOBILE ROBOT
Discrete-time Pioneer 3-DX model sliding-mode adaptive control on-line parameter estimation
2010/1/11
Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot ...
阀控非对称缸系统多级滑模鲁棒自适应控制（Multiple Sliding Mode Robust Adaptive Control for Valve Controlled Asymmetric Cylinder System）
阀控非对称液压缸 多级滑模控制 自适应控制
2009/11/3
考虑阀控非对称缸系统的特性，设计了一种基于逆向递推方法的多级滑模鲁棒自适应控制器。首先采用Backstepping逆向递推技术和状态反馈线性化的方法，给出系统的多级滑模控制器。然后依据Lyapunov稳定性理论，得到系统不确定参数的自适应律，并在自适应控制中引入鲁棒控制的设计方法，实现对活塞位移的精确位置跟踪控制。实验结果表明，多级滑模鲁棒自适应控制具有较强的鲁棒性和良好的跟踪性能。
Sliding Mode Control of a Multi-Degree-of-Freedom Structural System With Active Tuned Mass Damper
Sliding mode control active tuned mass damper (ATMD) multi-degree-of-freedom structure
2009/10/13
In this study, a sliding mode control system is designed for a multi-degree-of-freedom structure having an Active Tuned Mass Damper (ATMD) to suppress earthquake or wind induced vibration. Since the m...
Discrete-Time Sliding-Mode Control of Uncertain Systems with Time-Varying Delays via Descriptor Approach
Discrete-Time Sliding-Mode Control Uncertain Systems Time-Varying Delays Descriptor Approach
2009/9/7
This paper considers the problem of robust discrete-time sliding-mode control (DT-SMC) design for a class of uncertain linear systems with time-varying delays. By applying a descriptor model transform...
Aggregation, Foraging, and Formation Control of Swarms with Non-Holonomic Agents Using Potential Functions and Sliding Mode Techniques
Formation Control Non-Holonomic Agents Potential Functions Sliding Mode Techniques
2009/7/28
In this article we consider the aggregation, foraging, and formation control of swarms whose agents are moving in 2-dimensions with non-holonomic unicycle agent dynamics. We approach these problems us...
Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes
Fault detection fault-tolerant systems sliding-mode control
2009/7/28
In this paper, a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector ge...
New Approaches for On-line Tuning of the Linear Sliding Surface Slope in Sliding Mode Controllers
Sliding mode control sliding surface design time-varying sliding surface
2009/7/28
The main objective of this study is to propose new approaches for on-line tuning of the linear sliding surface slope in sliding mode controllers. The new approaches are developed for a class of second...
SLIDING MODE CONTROL FOR TRAJECTORY TRACKING OF AN INTELLIGENT WHEELCHAIR
sliding-mode control trajectory-tracking mode intelligent wheelchair mobile robots
2009/6/1
This paper deal with a robust sliding-mode trajectory tracking controller, for
nonholonomic wheeled mobile robots and its experimental evaluation by the
implementation in an intelligent wheelchair (...
考虑摩擦和参数不确定的平面五杆机构控制（Nonlinear Friction Compensation of Planar 5-bar Parallel Mechanism with Time Variable Parameters Using Sliding Mode Control）
平面并联机构 关节摩擦 滑模变结构控制
2009/5/22
建立了机构运动副摩擦的数学模型，将关节接触面间的作用力转换为理想约束力与摩擦力矩。将摩擦力矩视为外加非保守力，应用简化模型法建立了包含关节非线性摩擦的平面并联五杆机构的动力学模型。基于滑模变结构理论设计了该模型考虑参数不确定性的鲁棒轨迹跟踪控制器，并证明了其稳定性。实验和检测结果表明所建动力学模型正确，所设计的控制器对机构中的非线性摩擦力有较好的补偿效果并具有较强的鲁棒性。
Sliding-Mode Control of Synchronous Reluctance Motor
Dynamic Simulation MATLAB, PWM-inverter Reluctance Machine
2009/4/30
This paper presents a controller design technique for
Synchronous Reluctance Motor to improve its dynamic performance
with fast response and high accuracy. The sliding mode control is the
most attr...
ROBUST DISCRETE-TIME ADAPTIVE SLIDING MODE WMR TRAJECTORY TRACKING AND PARAMETER IDENTIFICATION
discrete-time robust adaptive sliding mode controller wheeled mobile robot
2004/1/12
In this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mod...