1,720,972 research outputs found
Minimum sensor second-order sliding longitudinal control of passenger vehicles
No full textIn this paper, a minimum sensor variable structure
control strategy for cruise and tracking longitudinal control of vehicles
has been proposed. It relies on the generation of “secondorder”
sliding regimes, i.e., sliding modes characterized by an identically
null derivative of the sliding variable. Because of the lack of
measurements, the use of suitably designed observers is exploited
in the paper. On the whole, the proposed strategy is designed so as
to guarantee a bounded jerk and to avoid too frequent changes between
the use of the accelerator and the brake. The control strategy
is robust with respect to matched bounded parameters variations,
and uncertainties
A Hybrid Controller for DOS-Resilient String-Stable Vehicle Platoons
No full textThis paper deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet dropouts. We present a controller tuning procedure based on linear matrix inequalities (LMI) that maximizes the resiliency to DOS attacks, while guaranteeing performance and string stability. The design procedure returns controller gains and gives a lower bound on the maximum allowable number of successive packet dropouts. A numerical example is employed to illustrate the effectiveness of the proposed approach
On dos resiliency analysis of networked control systems: Trade-off between jamming actions and network delays
No full textThis letter deals with the problem of quantifying resiliency of networked control systems (NCSs) to denial-of-service (DoS) attacks and variable network delays. Internal exponential stability and mathcal {L}-{{2}} external stability are studied. The closed-loop system is augmented with an auxiliary timer variable and analyzed in a hybrid system framework. Lyapunov-like conditions are given to ensure 0-input global exponential stability and mathcal {L}-{{2}} external stability. A computationally affordable algorithm based on linear matrix inequalities is devised to provide tradeoff curves between maximum length of DoS attacks and largest network delays. Finally, the effectiveness of the proposed approach is shown in a numerical example
ROTOR RESISTANCE IDENTIFICATION FOR AN INDUCTION MACHINE VIA COMBINED ADAPTIVE AND SLIDING-MODE TECHNIQUE
No full textVision-Based Sliding Mode Observers for Fault Detection, Isolation and Identification in Robot Manipulators
No full text
Chattering Reduction and Robust Position Control in Induction Motor with Second Order VSS
No full textA new sliding-mode controller for position control of induction motor which provides chattering elimination is presented. The simplicity of the control algorithm makes it easy to implement. Moreover, a Mew sliding-mode observer is proposed to overcome the problem of the rotor resistance estimation, ann it is robust against parameter variations
Fault detection for robot manipulators via second order sliding modes
No full textThis paper presents a model-based fault detection
(FD) and isolation scheme for rigid manipulators. A single fault
acting on a specific actuator or on a specific sensor of the manipulator
is detected (and, if possible, the exact location of the fault),
and an estimation of the fault signal is performed. Input-signal
estimator and output observers are considered in order to make
the FD procedure possible. By using the suboptimal second-order
sliding-mode (SOSM) algorithm to design the input laws of the
observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator
Actuators and sensors fault detection for robot manipulators via second order sliding mode observers
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