Second-order sliding mode controller with model reference adaptation for automatic train operation

NASA Astrophysics Data System (ADS)

Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

2017-11-01

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model

PubMed Central

Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation. PMID:28248996

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

PubMed

Li, Min; Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation.

Robust and real-time control of magnetic bearings for space engines

NASA Technical Reports Server (NTRS)

Sinha, Alok; Wang, Kon-Well; Mease, K.; Lewis, S.

1991-01-01

Currently, NASA Lewis Research Center is developing magnetic bearings for Space Shuttle Main Engine (SSME) turbopumps. The control algorithms which have been used are based on either the proportional-intergral-derivative control (PID) approach or the linear quadratic (LQ) state space approach. These approaches lead to an acceptable performance only when the system model is accurately known, which is seldom true in practice. For example, the rotor eccentricity, which is a major source of vibration at high speeds, cannot be predicted accurately. Furthermore, the dynamics of a rotor shaft, which must be treated as a flexible system to model the elastic rotor shaft, is infinite dimensional in theory and the controller can only be developed on the basis of a finite number of modes. Therefore, the development of the control system is further complicated by the possibility of closed loop system instability because of residual or uncontrolled modes, the so called spillover problem. Consequently, novel control algorithms for magnetic bearings are being developed to be robust to inevitable parametric uncertainties, external disturbances, spillover phenomenon and noise. Also, as pointed out earlier, magnetic bearings must exhibit good performance at a speed over 30,000 rpm. This implies that the sampling period available for the design of a digital control system has to be of the order of 0.5 milli-seconds. Therefore, feedback coefficients and other required controller parameters have to be computed off-line so that the on-line computational burden is extremely small. The development of the robust and real-time control algorithms is based on the sliding mode control theory. In this method, a dynamic system is made to move along a manifold of sliding hyperplanes to the origin of the state space. The number of sliding hyperplanes equals that of actuators. The sliding mode controller has two parts; linear state feedback and nonlinear terms. The nonlinear terms guarantee that the systems would reach the intersection of all sliding hyperplanes and remain on it when bounds on the errors in the system parameters and external disturbances are known. The linear part of the control drives the system to the origin of state space. Another important feature is that the controller parameter can be computed off-line. Consequently, on-line computational burden is small.

Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

PubMed

Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

2012-08-01

An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. Copyright © 2012 Elsevier Ltd. All rights reserved.

Compensation of significant parametric uncertainties using sliding mode online learning

NASA Astrophysics Data System (ADS)

Schnetter, Philipp; Kruger, Thomas

An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

Sliding mode control-based linear functional observers for discrete-time stochastic systems

NASA Astrophysics Data System (ADS)

Singh, Satnesh; Janardhanan, Sivaramakrishnan

2017-11-01

Sliding mode control (SMC) is one of the most popular techniques to stabilise linear discrete-time stochastic systems. However, application of SMC becomes difficult when the system states are not available for feedback. This paper presents a new approach to design a SMC-based functional observer for discrete-time stochastic systems. The functional observer is based on the Kronecker product approach. Existence conditions and stability analysis of the proposed observer are given. The control input is estimated by a novel linear functional observer. This approach leads to a non-switching type of control, thereby eliminating the fundamental cause of chatter. Furthermore, the functional observer is designed in such a way that the effect of process and measurement noise is minimised. Simulation example is given to illustrate and validate the proposed design method.

Adaptive-gain fast super-twisting sliding mode fault tolerant control for a reusable launch vehicle in reentry phase.

PubMed

Zhang, Yao; Tang, Shengjing; Guo, Jie

2017-11-01

In this paper, a novel adaptive-gain fast super-twisting (AGFST) sliding mode attitude control synthesis is carried out for a reusable launch vehicle subject to actuator faults and unknown disturbances. According to the fast nonsingular terminal sliding mode surface (FNTSMS) and adaptive-gain fast super-twisting algorithm, an adaptive fault tolerant control law for the attitude stabilization is derived to protect against the actuator faults and unknown uncertainties. Firstly, a second-order nonlinear control-oriented model for the RLV is established by feedback linearization method. And on the basis a fast nonsingular terminal sliding mode (FNTSM) manifold is designed, which provides fast finite-time global convergence and avoids singularity problem as well as chattering phenomenon. Based on the merits of the standard super-twisting (ST) algorithm and fast reaching law with adaption, a novel adaptive-gain fast super-twisting (AGFST) algorithm is proposed for the finite-time fault tolerant attitude control problem of the RLV without any knowledge of the bounds of uncertainties and actuator faults. The important feature of the AGFST algorithm includes non-overestimating the values of the control gains and faster convergence speed than the standard ST algorithm. A formal proof of the finite-time stability of the closed-loop system is derived using the Lyapunov function technique. An estimation of the convergence time and accurate expression of convergence region are also provided. Finally, simulations are presented to illustrate the effectiveness and superiority of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

On synchronisation of a class of complex chaotic systems with complex unknown parameters via integral sliding mode control

NASA Astrophysics Data System (ADS)

Tirandaz, Hamed; Karami-Mollaee, Ali

2018-06-01

Chaotic systems demonstrate complex behaviour in their state variables and their parameters, which generate some challenges and consequences. This paper presents a new synchronisation scheme based on integral sliding mode control (ISMC) method on a class of complex chaotic systems with complex unknown parameters. Synchronisation between corresponding states of a class of complex chaotic systems and also convergence of the errors of the system parameters to zero point are studied. The designed feedback control vector and complex unknown parameter vector are analytically achieved based on the Lyapunov stability theory. Moreover, the effectiveness of the proposed methodology is verified by synchronisation of the Chen complex system and the Lorenz complex systems as the leader and the follower chaotic systems, respectively. In conclusion, some numerical simulations related to the synchronisation methodology is given to illustrate the effectiveness of the theoretical discussions.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

Optimal Control Allocation with Load Sensor Feedback for Active Load Suppression

NASA Technical Reports Server (NTRS)

Miller, Christopher

2017-01-01

These slide sets describe the OCLA formulation and associated algorithms as a set of new technologies in the first practical application of load limiting flight control utilizing load feedback as a primary control measurement. Slide set one describes Experiment Development and slide set two describes Flight-Test Performance.

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

NASA Astrophysics Data System (ADS)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

METACOGNITIVE SCAFFOLDS IMPROVE SELF-JUDGMENTS OF ACCURACY IN A MEDICAL INTELLIGENT TUTORING SYSTEM

PubMed Central

Feyzi-Behnagh, Reza; Azevedo, Roger; Legowski, Elizabeth; Reitmeyer, Kayse; Tseytlin, Eugene; Crowley, Rebecca S.

2013-01-01

In this study, we examined the effect of two metacognitive scaffolds on the accuracy of confidence judgments made while diagnosing dermatopathology slides in SlideTutor. Thirty-one (N = 31) first- to fourth-year pathology and dermatology residents were randomly assigned to one of the two scaffolding conditions. The cases used in this study were selected from the domain of Nodular and Diffuse Dermatitides. Both groups worked with a version of SlideTutor that provided immediate feedback on their actions for two hours before proceeding to solve cases in either the Considering Alternatives or Playback condition. No immediate feedback was provided on actions performed by participants in the scaffolding mode. Measurements included learning gains (pre-test and post-test), as well as metacognitive performance, including Goodman-Kruskal Gamma correlation, bias, and discrimination. Results showed that participants in both conditions improved significantly in terms of their diagnostic scores from pre-test to post-test. More importantly, participants in the Considering Alternatives condition outperformed those in the Playback condition in the accuracy of their confidence judgments and the discrimination of the correctness of their assertions while solving cases. The results suggested that presenting participants with their diagnostic decision paths and highlighting correct and incorrect paths helps them to become more metacognitively accurate in their confidence judgments. PMID:24532850

METACOGNITIVE SCAFFOLDS IMPROVE SELF-JUDGMENTS OF ACCURACY IN A MEDICAL INTELLIGENT TUTORING SYSTEM.

PubMed

Feyzi-Behnagh, Reza; Azevedo, Roger; Legowski, Elizabeth; Reitmeyer, Kayse; Tseytlin, Eugene; Crowley, Rebecca S

2014-03-01

In this study, we examined the effect of two metacognitive scaffolds on the accuracy of confidence judgments made while diagnosing dermatopathology slides in SlideTutor. Thirty-one ( N = 31) first- to fourth-year pathology and dermatology residents were randomly assigned to one of the two scaffolding conditions. The cases used in this study were selected from the domain of Nodular and Diffuse Dermatitides. Both groups worked with a version of SlideTutor that provided immediate feedback on their actions for two hours before proceeding to solve cases in either the Considering Alternatives or Playback condition. No immediate feedback was provided on actions performed by participants in the scaffolding mode. Measurements included learning gains (pre-test and post-test), as well as metacognitive performance, including Goodman-Kruskal Gamma correlation, bias, and discrimination. Results showed that participants in both conditions improved significantly in terms of their diagnostic scores from pre-test to post-test. More importantly, participants in the Considering Alternatives condition outperformed those in the Playback condition in the accuracy of their confidence judgments and the discrimination of the correctness of their assertions while solving cases. The results suggested that presenting participants with their diagnostic decision paths and highlighting correct and incorrect paths helps them to become more metacognitively accurate in their confidence judgments.

Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope.

PubMed

Feng, Zhilin; Fei, Juntao

2018-01-01

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages of the traditional sliding mode control with the Super-Twisting sliding mode control, but also guarantee that the designed control system can reach the sliding surface and equilibrium point in a shorter finite time from any initial state and avoid chattering problems. In consideration of unknown parameters of micro gyroscope system, an adaptive algorithm based on Lyapunov stability theory is designed to estimate the unknown parameters and angular velocity of microgyroscope. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results. The comparative study between adaptive Super-Twisting sliding mode control and conventional sliding mode control demonstrate the superiority of the proposed method.

Optimal second order sliding mode control for nonlinear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-07-01

In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

PubMed

Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

2018-05-25

As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

Shape memory alloy wire for self-sensing servo actuation

NASA Astrophysics Data System (ADS)

Josephine Selvarani Ruth, D.; Dhanalakshmi, K.

2017-01-01

This paper reports on the development of a straightforward approach to realise self-sensing shape memory alloy (SMA) wire actuated control. A differential electrical resistance measurement circuit (the sensorless signal conditioning (SSC) circuit) is designed; this sensing signal is directly used as the feedback for control. Antagonistic SMA wire actuators designed for servo actuation is realized in self-sensing actuation (SSA) mode for direct control with the differential electrical resistance feedback. The self-sensing scheme is established on a 1-DOF manipulator with the discrete time sliding mode controls which demonstrates good control performance, whatever be the disturbance and loading conditions. The uniqueness of this work is the design of the generic electronic SSC circuit for SMA actuated system, for measurement and control. With a concern to the implementation of self-sensing technique in SMA, this scheme retains the systematic control architecture by using the sensing signal (self-sensed, electrical resistance corresponding to the system position) for feedback, without requiring any processing as that of the methods adopted and reported previously for SSA techniques of SMA.

Fuzzy fractional order sliding mode controller for nonlinear systems

NASA Astrophysics Data System (ADS)

Delavari, H.; Ghaderi, R.; Ranjbar, A.; Momani, S.

2010-04-01

In this paper, an intelligent robust fractional surface sliding mode control for a nonlinear system is studied. At first a sliding PD surface is designed and then, a fractional form of these networks PDα, is proposed. Fast reaching velocity into the switching hyperplane in the hitting phase and little chattering phenomena in the sliding phase is desired. To reduce the chattering phenomenon in sliding mode control (SMC), a fuzzy logic controller is used to replace the discontinuity in the signum function at the reaching phase in the sliding mode control. For the problem of determining and optimizing the parameters of fuzzy sliding mode controller (FSMC), genetic algorithm (GA) is used. Finally, the performance and the significance of the controlled system two case studies (robot manipulator and coupled tanks) are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results signify performance of genetic-based fuzzy fractional sliding mode controller.

Coupled Directional Stability of Multiple Ship Formations

DTIC Science & Technology

2013-06-01

Papoulias, “Bifurcation analysis of line of sight vehicle guidance using sliding modes ,” Int. J. of Bifurcation and Chaos, vol. 1, p.4, 1991. [12] F...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) This thesis addresses the problem of coordinated motion control and the stability loss of surface...plane with no side slip. A state feedback control law is coupled with a line of sight guidance law to provide path control . A string of three vehicles

Overload control of artificial gravity facility using spinning tether system for high eccentricity transfer orbits

NASA Astrophysics Data System (ADS)

Gou, Xing-wang; Li, Ai-jun; Tian, Hao-chang; Wang, Chang-qing; Lu, Hong-shi

2018-06-01

As the major part of space life supporting systems, artificial gravity requires further study before it becomes mature. Spinning tether system is a good alternative solution to provide artificial gravity for the whole spacecraft other than additional devices, and its longer tether length could significantly reduce spinning velocity and thus enhance comfortability. An approximated overload-based feedback method is proposed to provide estimated spinning velocity signals for controller, so that gravity level could be accurately controlled without complicated GPS modules. System behavior in high eccentricity transfer orbits is also studied to give a complete knowledge of the spinning stabilities. The application range of the proposed method is studied in various orbit cases and spinning velocities, indicating that it is accurate and reliable for most of the mission phases especially for the final constant gravity level phase. In order to provide stable gravity level for transfer orbit missions, a sliding mode controller based on estimated angular signals is designed for closed-loop control. Numerical results indicate that the combination of overload-based feedback and sliding mode controller could satisfy most of the long-term artificial gravity missions. It is capable of forming flexible gravity environment in relatively good accuracy even in the lowest possible orbital radiuses and high eccentricity orbits of crewed space missions. The proposed scheme provides an effective tether solution for the artificial gravity construction in interstellar travel.

Second-Order Consensus in Multiagent Systems via Distributed Sliding Mode Control.

PubMed

Yu, Wenwu; Wang, He; Cheng, Fei; Yu, Xinghuo; Wen, Guanghui

2016-11-22

In this paper, the new decoupled distributed sliding-mode control (DSMC) is first proposed for second-order consensus in multiagent systems, which finally solves the fundamental unknown problem for sliding-mode control (SMC) design of coupled networked systems. A distributed full-order sliding-mode surface is designed based on the homogeneity with dilation for reaching second-order consensus in multiagent systems, under which the sliding-mode states are decoupled. Then, the SMC is applied to the decoupled sliding-mode states to reach their origin in finite time, which is the sliding-mode surface. The states of agents can first reach the designed sliding-mode surface in finite time and then move to the second-order consensus state along the surface in finite time as well. The DSMC designed in this paper can eliminate the influence of singularity problems and weaken the influence of chattering, which is still very difficult in the SMC systems. In addition, DSMC proposes a general decoupling framework for designing SMC in networked multiagent systems. Simulations are presented to verify the theoretical results in this paper.

Active chatter suppression with displacement-only measurement in turning process

NASA Astrophysics Data System (ADS)

Ma, Haifeng; Wu, Jianhua; Yang, Liuqing; Xiong, Zhenhua

2017-08-01

Regenerative chatter is a major hindrance for achieving high quality and high production rate in machining processes. Various active controllers have been proposed to mitigate chatter. However, most of existing controllers were developed on the basis of multi-states feedback of the system and state observers were usually needed. Moreover, model parameters of the machining process (mass, damping and stiffness) were required in existing active controllers. In this study, an active sliding mode controller, which employs a dynamic output feedback sliding surface for the unmatched condition and an adaptive law for disturbance estimation, is designed, analyzed, and validated for chatter suppression in turning process. Only displacement measurement is required by this approach. Other sensors and state observers are not needed. Moreover, it facilitates a rapid implementation since the designed controller is established without using model parameters of the turning process. Theoretical analysis, numerical simulations and experiments on a computer numerical control (CNC) lathe are presented. It shows that the chatter can be substantially attenuated and the chatter-free region can be significantly expanded with the presented method.

Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates

NASA Astrophysics Data System (ADS)

Shi, Xiao-Ning; Zhou, Zhi-Gang; Zhou, Di

2018-06-01

This paper addresses the global finite-time attitude stabilisation problem on the special orthogonal group (SO(3)) for a rigid spacecraft via homogeneous feedback approach. Considering the topological and geometric properties of SO(3), the logarithm map is utilised to transform the stabilisation problem on SO(3) into the one on its associated Lie algebra (?). A model-independent discontinuous state feedback plus dynamics compensation scheme is constructed to achieve the global finite-time attitude stabilisation in a coordinate-invariant way. In addition, to address the absence of angular velocity measurements, a sliding mode observer is proposed to reconstruct the unknown angular velocity information within finite time. Then, an observer-based finite-time output feedback control strategy is obtained. Numerical simulations are finally performed to demonstrate the effectiveness of the proposed finite-time controllers.

A Sliding Mode Controller Using Nonlinear Sliding Surface Improved With Fuzzy Logic: Application to the Coupled Tanks System

NASA Astrophysics Data System (ADS)

Boubakir, A.; Boudjema, F.; Boubakir, C.

2008-06-01

This paper proposes an approach of hybrid control that is based on the concept of combining fuzzy logic and the methodology of sliding mode control (SMC). In the present works, a first-order nonlinear sliding surface is presented, on which the developed control law is based. Mathematical proof for the stability and convergence of the system is presented. In order to reduce the chattering in sliding mode control, a fixed boundary layer around the switch surface is used. Within the boundary layer, since the fuzzy logic control is applied, the chattering phenomenon, which is inherent in a sliding mode control, is avoided by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Experimental studies carried out on a coupled Tanks system indicate that the proposed fuzzy sliding mode control (FSMC) is a good candidate for control applications.

A new optimal sliding mode controller design using scalar sign function.

PubMed

Singla, Mithun; Shieh, Leang-San; Song, Gangbing; Xie, Linbo; Zhang, Yongpeng

2014-03-01

This paper presents a new optimal sliding mode controller using the scalar sign function method. A smooth, continuous-time scalar sign function is used to replace the discontinuous switching function in the design of a sliding mode controller. The proposed sliding mode controller is designed using an optimal Linear Quadratic Regulator (LQR) approach. The sliding surface of the system is designed using stable eigenvectors and the scalar sign function. Controller simulations are compared with another existing optimal sliding mode controller. To test the effectiveness of the proposed controller, the controller is implemented on an aluminum beam with piezoceramic sensor and actuator for vibration control. This paper includes the control design and stability analysis of the new optimal sliding mode controller, followed by simulation and experimental results. The simulation and experimental results show that the proposed approach is very effective. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong

2016-01-01

This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method.

Sliding mode controller with modified sliding function for DC-DC Buck Converter.

PubMed

Naik, B B; Mehta, A J

2017-09-01

This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Second-order sliding mode control for DFIG-based wind turbines fault ride-through capability enhancement.

PubMed

Benbouzid, Mohamed; Beltran, Brice; Amirat, Yassine; Yao, Gang; Han, Jingang; Mangel, Hervé

2014-05-01

This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding mode control of magnetic suspensions for precision pointing and tracking applications

NASA Technical Reports Server (NTRS)

Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

1991-01-01

A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

Observer-based sliding mode control of Markov jump systems with random sensor delays and partly unknown transition rates

NASA Astrophysics Data System (ADS)

Yao, Deyin; Lu, Renquan; Xu, Yong; Ren, Hongru

2017-10-01

In this paper, the sliding mode control problem of Markov jump systems (MJSs) with unmeasured state, partly unknown transition rates and random sensor delays is probed. In the practical engineering control, the exact information of transition rates is hard to obtain and the measurement channel is supposed to subject to random sensor delay. Design a Luenberger observer to estimate the unmeasured system state, and an integral sliding mode surface is constructed to ensure the exponential stability of MJSs. A sliding mode controller based on estimator is proposed to drive the system state onto the sliding mode surface and render the sliding mode dynamics exponentially mean-square stable with H∞ performance index. Finally, simulation results are provided to illustrate the effectiveness of the proposed results.

Optimal second order sliding mode control for linear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-11-01

In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

NASA Astrophysics Data System (ADS)

Chen, Hongbin

2018-03-01

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

Second-order sliding mode control with experimental application.

PubMed

Eker, Ilyas

2010-07-01

In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

PubMed

Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

2013-03-01

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers.

PubMed

Zhang, Jinhui; Lin, Yujuan; Feng, Gang

2015-12-01

This paper addresses the sliding mode control problem for a class of Takagi-Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

Implementing Nonlinear Feedback Controllers Using DNA Strand Displacement Reactions.

PubMed

Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh V; Bates, Declan G

2016-07-01

We show how an important class of nonlinear feedback controllers can be designed using idealized abstract chemical reactions and implemented via DNA strand displacement (DSD) reactions. Exploiting chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks, we show how a set of unimolecular and bimolecular reactions can be used to realize input-output dynamics that produce a nonlinear quasi sliding mode (QSM) feedback controller. The kinetics of the required chemical reactions can then be implemented as enzyme-free, enthalpy/entropy driven DNA reactions using a toehold mediated strand displacement mechanism via Watson-Crick base pairing and branch migration. We demonstrate that the closed loop response of the nonlinear QSM controller outperforms a traditional linear controller by facilitating much faster tracking response dynamics without introducing overshoots in the transient response. The resulting controller is highly modular and is less affected by retroactivity effects than standard linear designs.

Nonlinear force feedback control of piezoelectric-hydraulic pump actuator for automotive transmission shift control

NASA Astrophysics Data System (ADS)

Kim, Gi-Woo; Wang, K. W.

2008-03-01

In recent years, researchers have investigated the feasibility of utilizing piezoelectric-hydraulic pump based actuation systems for automotive transmission controls. This new concept could eventually reduce the complexity, weight, and fuel consumption of the current transmissions. In this research, we focus on how to utilize this new approach on the shift control of automatic transmissions (AT), which generally requires pressure profiling for friction elements during the operation. To illustrate the concept, we will consider the 1--> 2 up shift control using band brake friction elements. In order to perform the actuation force tracking for AT shift control, nonlinear force feedback control laws are designed based on the sliding mode theory for the given nonlinear system. This paper will describe the modeling of the band brake actuation system, the design of the nonlinear force feedback controller, and simulation and experimental results for demonstration of the new concept.

Management of a TIFS System: Organizing Tests with Instructional Feedback on Slides.

ERIC Educational Resources Information Center

Brown, F. Dale; Mitchell, Thomas O.

1980-01-01

Presents three components of the tests with instructional feedback on slides system (TIFS), the needs of the three, background on the production of the test item reference card, and the advantage of the system for both instructor and student. (MER)

Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

NASA Astrophysics Data System (ADS)

Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

2017-09-01

Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

Opportunity for information search and the effect of false heart rate feedback.

PubMed

Barefoot, John C; Straub, Ronald B

2005-01-01

The role of information search in the attribution of physiological states was investigated by manipulating the subject's opportunity for information search following the presentation of false information about his heart-rate reactions to photographs of female nudes. Consistent with the self-persuasion hypothesis proposed by Valins, the rated attractiveness of the slides was not affected by the false heart-rate feedback for those subjects who were prevented from visually searching the slides. Those subjects who had ample opportunity to view the slides rated those slides accompanied by false information of a heart-rate change as more attractive than those slides which were not paired with a change in heart rate.

Robust on-off pulse control of flexible space vehicles

NASA Technical Reports Server (NTRS)

Wie, Bong; Sinha, Ravi

1993-01-01

The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

Robust sliding mode control applied to double Inverted pendulum system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

Projective synchronization of nonidentical fractional-order neural networks based on sliding mode controller.

PubMed

Ding, Zhixia; Shen, Yi

2016-04-01

This paper investigates global projective synchronization of nonidentical fractional-order neural networks (FNNs) based on sliding mode control technique. We firstly construct a fractional-order integral sliding surface. Then, according to the sliding mode control theory, we design a sliding mode controller to guarantee the occurrence of the sliding motion. Based on fractional Lyapunov direct methods, system trajectories are driven to the proposed sliding surface and remain on it evermore, and some novel criteria are obtained to realize global projective synchronization of nonidentical FNNs. As the special cases, some sufficient conditions are given to ensure projective synchronization of identical FNNs, complete synchronization of nonidentical FNNs and anti-synchronization of nonidentical FNNs. Finally, one numerical example is given to demonstrate the effectiveness of the obtained results. Copyright © 2016 Elsevier Ltd. All rights reserved.

A new continuous sliding mode control approach with actuator saturation for control of 2-DOF helicopter system.

PubMed

Sadala, S P; Patre, B M

2018-03-01

The 2-degree of freedom (DOF) helicopter system is a typical higher-order, multi-variable, nonlinear and strong coupled control system. The helicopter dynamics also includes parametric uncertainties and is subject to unknown external disturbances. Such complicated system requires designing a sophisticated control algorithm that can handle these difficulties. This paper presents a new robust control algorithm which is a combination of two continuous control techniques, composite nonlinear feedback (CNF) and super-twisting control (STC) methods. In the existing integral sliding mode (ISM) based CNF control law, the discontinuous term exhibits chattering which is not desirable for many practical applications. As the continuity of well known STC reduces chattering in the system, the proposed strategy is beneficial over the current ISM based CNF control law which has a discontinuous term. Two controllers with integral sliding surface are designed to control the position of the pitch and the yaw angles of the 2- DOF helicopter. The adequacy of this specific combination has been exhibited through general analysis, simulation and experimental results of 2-DOF helicopter setup. The acquired results demonstrate the good execution of the proposed controller regarding stabilization, following reference input without overshoot against actuator saturation and robustness concerning to the limited matched disturbances. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay.

PubMed

Al-Wais, Saba; Khoo, Suiyang; Lee, Tae Hee; Shanmugam, Lakshmanan; Nahavandi, Saeid

2018-01-01

This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H ∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H ∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H ∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method. Copyright © 2017 ISA. All rights reserved.

Optimal Guaranteed Cost Sliding Mode Control for Constrained-Input Nonlinear Systems With Matched and Unmatched Disturbances.

PubMed

Zhang, Huaguang; Qu, Qiuxia; Xiao, Geyang; Cui, Yang

2018-06-01

Based on integral sliding mode and approximate dynamic programming (ADP) theory, a novel optimal guaranteed cost sliding mode control is designed for constrained-input nonlinear systems with matched and unmatched disturbances. When the system moves on the sliding surface, the optimal guaranteed cost control problem of sliding mode dynamics is transformed into the optimal control problem of a reformulated auxiliary system with a modified cost function. The ADP algorithm based on single critic neural network (NN) is applied to obtain the approximate optimal control law for the auxiliary system. Lyapunov techniques are used to demonstrate the convergence of the NN weight errors. In addition, the derived approximate optimal control is verified to guarantee the sliding mode dynamics system to be stable in the sense of uniform ultimate boundedness. Some simulation results are presented to verify the feasibility of the proposed control scheme.

Research on Synthetic Aperture Radar Processing for the Spaceborne Sliding Spotlight Mode.

PubMed

Shen, Shijian; Nie, Xin; Zhang, Xinggan

2018-02-03

Gaofen-3 (GF-3) is China' first C-band multi-polarization synthetic aperture radar (SAR) satellite, which also provides the sliding spotlight mode for the first time. Sliding-spotlight mode is a novel mode to realize imaging with not only high resolution, but also wide swath. Several key technologies for sliding spotlight mode in spaceborne SAR with high resolution are investigated in this paper, mainly including the imaging parameters, the methods of velocity estimation and ambiguity elimination, and the imaging algorithms. Based on the chosen Convolution BackProjection (CBP) and PFA (Polar Format Algorithm) imaging algorithms, a fast implementation method of CBP and a modified PFA method suitable for sliding spotlight mode are proposed, and the processing flows are derived in detail. Finally, the algorithms are validated by simulations and measured data.

Sensorless position estimator applied to nonlinear IPMC model

NASA Astrophysics Data System (ADS)

Bernat, Jakub; Kolota, Jakub

2016-11-01

This paper addresses the issue of estimating position for an ionic polymer metal composite (IPMC) known as electro active polymer (EAP). The key step is the construction of a sensorless mode considering only current feedback. This work takes into account nonlinearities caused by electrochemical effects in the material. Owing to the recent observer design technique, the authors obtained both Lyapunov function based estimation law as well as sliding mode observer. To accomplish the observer design, the IPMC model was identified through a series of experiments. The research comprises time domain measurements. The identification process was completed by means of geometric scaling of three test samples. In the proposed design, the estimated position accurately tracks the polymer position, which is illustrated by the experiments.

A new design of robust H∞ sliding mode control for uncertain stochastic T-S fuzzy time-delay systems.

PubMed

Gao, Qing; Feng, Gang; Xi, Zhiyu; Wang, Yong; Qiu, Jianbin

2014-09-01

In this paper, a novel dynamic sliding mode control scheme is proposed for a class of uncertain stochastic nonlinear time-delay systems represented by Takagi-Sugeno fuzzy models. The key advantage of the proposed scheme is that two very restrictive assumptions in most existing sliding mode control approaches for stochastic fuzzy systems have been removed. It is shown that the closed-loop control system trajectories can be driven onto the sliding surface in finite time almost certainly. It is also shown that the stochastic stability of the resulting sliding motion can be guaranteed in terms of linear matrix inequalities; moreover, the sliding-mode controller can be obtained simultaneously. Simulation results illustrating the advantages and effectiveness of the proposed approaches are also provided.

Fast smooth second-order sliding mode control for systems with additive colored noises.

PubMed

Yang, Pengfei; Fang, Yangwang; Wu, Youli; Liu, Yunxia; Zhang, Danxu

2017-01-01

In this paper, a fast smooth second-order sliding mode control is presented for a class of stochastic systems with enumerable Ornstein-Uhlenbeck colored noises. The finite-time mean-square practical stability and finite-time mean-square practical reachability are first introduced. Instead of treating the noise as bounded disturbance, the stochastic control techniques are incorporated into the design of the controller. The finite-time convergence of the prescribed sliding variable dynamics system is proved by using stochastic Lyapunov-like techniques. Then the proposed sliding mode controller is applied to a second-order nonlinear stochastic system. Simulation results are presented comparing with smooth second-order sliding mode control to validate the analysis.

Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

PubMed

Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

2014-12-01

In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches.

Reusable Launch Vehicle Control in Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri

1999-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. 6DOF simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. It creates possibility to operate the X-33 vehicle in an aircraft-like mode with reduced pre-launch adjustment of the control system.

Global Sliding Mode Control for the Bank-to-Turn of Hypersonic Glide Vehicle

NASA Astrophysics Data System (ADS)

Zhang, J.; Yu, Y. F.; Yan, P. P.; Fan, Y. H.; Guo, X. W.

2017-03-01

The technology of Bank-to-Turn has been recognized as an attractive direction due to their significance for the control of hypersonic glide vehicle. Strong coupling existing among pitch, yaw and roll channel was a great challenge for banking to turn, and thus a novel global sliding mode controller was designed for hypersonic glider in this paper. Considering the coupling among channels as interference, we can use invariance principle of sliding mode motion to realize the decoupling control. The global sliding mode control system could eliminate the stage of reaching, which can lead to the realization of whole systematic process decoupling control. When the global sliding mode factor was designed, a minimum norm pole assignment method of the sliding mode matrix was introduced to improve the robustness of the system. The method of continuity of symbolic function was adopted to overcome the chatter, which furtherly modify the transient performance of the system. The simulation results show that this method has good performance of three channel decoupling control and guidance command tracking. And it can meet the requirements of the dynamic performance of the system.

An LMI approach for the Integral Sliding Mode and H∞ State Feedback Control Problem

NASA Astrophysics Data System (ADS)

Bezzaoucha, Souad; Henry, David

2015-11-01

This paper deals with the state feedback control problem for linear uncertain systems subject to both matched and unmatched perturbations. The proposed control law is based on an the Integral Sliding Mode Control (ISMC) approach to tackle matched perturbations as well as the H∞ paradigm for robustness against unmatched perturbations. The proposed method also parallels the work presented in [1] which addressed the same problem and proposed a solution involving an Algebraic Riccati Equation (ARE)-based formulation. The contribution of this paper is concerned by the establishment of a Linear Matrix Inequality (LMI)-based solution which offers the possibility to consider other types of constraints such as 𝓓-stability constraints (pole assignment-like constraints). The proposed methodology is applied to a pilot three-tank system and experiment results illustrate the feasibility. Note that only a few real experiments have been rarely considered using SMC in the past. This is due to the high energetic behaviour of the control signal. It is important to outline that the paper does not aim at proposing a LMI formulation of an ARE. This is done since 1971 [2] and further discussed in [3] where the link between AREs and ARIs (algebraic Riccati inequality) is established for the H∞ control problem. The main contribution of this paper is to establish the adequate LMI-based methodology (changes of matrix variables) so that the ARE that corresponds to the particular structure of the mixed ISMC/H∞ structure proposed by [1] can be re-formulated within the LMI paradigm.

A new fractional-order sliding mode controller via a nonlinear disturbance observer for a class of dynamical systems with mismatched disturbances.

PubMed

Pashaei, Shabnam; Badamchizadeh, Mohammadali

2016-07-01

This paper investigates the stabilization and disturbance rejection for a class of fractional-order nonlinear dynamical systems with mismatched disturbances. To fulfill this purpose a new fractional-order sliding mode control (FOSMC) based on a nonlinear disturbance observer is proposed. In order to design the suitable fractional-order sliding mode controller, a proper switching surface is introduced. Afterward, by using the sliding mode theory and Lyapunov stability theory, a robust fractional-order control law via a nonlinear disturbance observer is proposed to assure the existence of the sliding motion in finite time. The proposed fractional-order sliding mode controller exposes better control performance, ensures fast and robust stability of the closed-loop system, eliminates the disturbances and diminishes the chattering problem. Finally, the effectiveness of the proposed fractional-order controller is depicted via numerical simulation results of practical example and is compared with some other controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Passivity-based sliding mode control for a polytopic stochastic differential inclusion system.

PubMed

Liu, Leipo; Fu, Zhumu; Song, Xiaona

2013-11-01

Passivity-based sliding mode control for a polytopic stochastic differential inclusion (PSDI) system is considered. A control law is designed such that the reachability of sliding motion is guaranteed. Moreover, sufficient conditions for mean square asymptotic stability and passivity of sliding mode dynamics are obtained by linear matrix inequalities (LMIs). Finally, two examples are given to illustrate the effectiveness of the proposed method. © 2013 ISA. Published by ISA. All rights reserved.

Fast smooth second-order sliding mode control for stochastic systems with enumerable coloured noises

NASA Astrophysics Data System (ADS)

Yang, Peng-fei; Fang, Yang-wang; Wu, You-li; Zhang, Dan-xu; Xu, Yang

2018-01-01

A fast smooth second-order sliding mode control is presented for a class of stochastic systems driven by enumerable Ornstein-Uhlenbeck coloured noises with time-varying coefficients. Instead of treating the noise as bounded disturbance, the stochastic control techniques are incorporated into the design of the control. The finite-time mean-square practical stability and finite-time mean-square practical reachability are first introduced. Then the prescribed sliding variable dynamic is presented. The sufficient condition guaranteeing its finite-time convergence is given and proved using stochastic Lyapunov-like techniques. The proposed sliding mode controller is applied to a second-order nonlinear stochastic system. Simulation results are given comparing with smooth second-order sliding mode control to validate the analysis.

A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

NASA Astrophysics Data System (ADS)

Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

2015-11-01

In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

Multi-mode sliding mode control for precision linear stage based on fixed or floating stator.

PubMed

Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei

2016-02-01

This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.

Finite time control for MIMO nonlinear system based on higher-order sliding mode.

PubMed

Liu, Xiangjie; Han, Yaozhen

2014-11-01

Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding Mode Thermal Control System for Space Station Furnace Facility

NASA Technical Reports Server (NTRS)

Jackson Mark E.; Shtessel, Yuri B.

1998-01-01

The decoupled control of the nonlinear, multiinput-multioutput, and highly coupled space station furnace facility (SSFF) thermal control system is addressed. Sliding mode control theory, a subset of variable-structure control theory, is employed to increase the performance, robustness, and reliability of the SSFF's currently designed control system. This paper presents the nonlinear thermal control system description and develops the sliding mode controllers that cause the interconnected subsystems to operate in their local sliding modes, resulting in control system invariance to plant uncertainties and external and interaction disturbances. The desired decoupled flow-rate tracking is achieved by optimization of the local linear sliding mode equations. The controllers are implemented digitally and extensive simulation results are presented to show the flow-rate tracking robustness and invariance to plant uncertainties, nonlinearities, external disturbances, and variations of the system pressure supplied to the controlled subsystems.

Improved robustness and performance of discrete time sliding mode control systems.

PubMed

Chakrabarty, Sohom; Bartoszewicz, Andrzej

2016-11-01

This paper presents a theoretical analysis along with simulations to show that increased robustness can be achieved for discrete time sliding mode control systems by choosing the sliding variable, or the output, to be of relative degree two instead of relative degree one. In other words it successfully reduces the ultimate bound of the sliding variable compared to the ultimate bound for standard discrete time sliding mode control systems. It is also found out that for such a selection of relative degree two output of the discrete time system, the reduced order system during sliding becomes finite time stable in absence of disturbance. With disturbance, it becomes finite time ultimately bounded. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Global tracking for a class of uncertain nonlinear systems with unknown sign-switching control direction by output feedback

NASA Astrophysics Data System (ADS)

Roux Oliveira, Tiago; Jacoud Peixoto, Alessandro; Hsu, Liu

2015-09-01

This paper addresses the design of a sliding mode controller for a class of high-order uncertain nonlinear plants with unmatched state-dependent nonlinearities and unknown sign of the high frequency gain, i.e., the control direction is assumed unknown. Differently from most previous studies, the control direction is allowed to switch its sign. We show that it is possible to obtain global exact tracking using only output-feedback by coupling a relay periodic switching function with a norm state observer. One significant advantage of the new scheme is its robustness and improved transient response under arbitrary changes of the control direction which have been theoretically demonstrated for jump variations and successfully tested by simulations. The proposed controller is also evaluated with a DC motor control experiment.

Design of sliding-mode observer for a class of uncertain neutral stochastic systems

NASA Astrophysics Data System (ADS)

Liu, Zhen; Zhao, Lin; Zhu, Quanmin; Gao, Cunchen

2017-05-01

The problem of robust ? control for a class of uncertain neutral stochastic systems (NSS) is investigated by utilising the sliding-mode observer (SMO) technique. This paper presents a novel observer and integral-type sliding-surface design, based on which a new sufficient condition guaranteeing the resultant sliding-mode dynamics (SMDs) to be mean-square exponentially stable with a prescribed level of ? performance is derived. Then, an adaptive reaching motion controller is synthesised to lead the system to the predesigned sliding surface in finite-time almost surely. Finally, two illustrative examples are exhibited to verify the validity and superiority of the developed scheme.

Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

NASA Technical Reports Server (NTRS)

Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)

2002-01-01

A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

PubMed

Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

2017-07-01

This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

Sliding mode controllers for a tempered glass furnace.

PubMed

Almutairi, Naif B; Zribi, Mohamed

2016-01-01

This paper investigates the design of two sliding mode controllers (SMCs) applied to a tempered glass furnace system. The main objective of the proposed controllers is to regulate the glass plate temperature, the upper-wall temperature and the lower-wall temperature in the furnace to a common desired temperature. The first controller is a conventional sliding mode controller. The key step in the design of this controller is the introduction of a nonlinear transformation that maps the dynamic model of the tempered glass furnace into the generalized controller canonical form; this step facilitates the design of the sliding mode controller. The second controller is based on a state-dependent coefficient (SDC) factorization of the tempered glass furnace dynamic model. Using an SDC factorization, a simplified sliding mode controller is designed. The simulation results indicate that the two proposed control schemes work very well. Moreover, the robustness of the control schemes to changes in the system's parameters as well as to disturbances is investigated. In addition, a comparison of the proposed control schemes with a fuzzy PID controller is performed; the results show that the proposed SDC-based sliding mode controller gave better results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Sequence-dependent nucleosome sliding in rotation-coupled and uncoupled modes revealed by molecular simulations

PubMed Central

Tan, Cheng; Takada, Shoji

2017-01-01

While nucleosome positioning on eukaryotic genome play important roles for genetic regulation, molecular mechanisms of nucleosome positioning and sliding along DNA are not well understood. Here we investigated thermally-activated spontaneous nucleosome sliding mechanisms developing and applying a coarse-grained molecular simulation method that incorporates both long-range electrostatic and short-range hydrogen-bond interactions between histone octamer and DNA. The simulations revealed two distinct sliding modes depending on the nucleosomal DNA sequence. A uniform DNA sequence showed frequent sliding with one base pair step in a rotation-coupled manner, akin to screw-like motions. On the contrary, a strong positioning sequence, the so-called 601 sequence, exhibits rare, abrupt transitions of five and ten base pair steps without rotation. Moreover, we evaluated the importance of hydrogen bond interactions on the sliding mode, finding that strong and weak bonds favor respectively the rotation-coupled and -uncoupled sliding movements. PMID:29194442

Microgravity Isolation Control System Design Via High-Order Sliding Mode Control

NASA Technical Reports Server (NTRS)

Shkolnikov, Ilya; Shtessel, Yuri; Whorton, Mark S.; Jackson, Mark

2000-01-01

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closed-loop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances.

Sliding Mode Control for Discrete-Time Systems With Markovian Packet Dropouts.

PubMed

Song, Heran; Chen, Shih-Chi; Yam, Yeung

2017-11-01

This paper presents the design of a sliding mode controller for networked control systems subject to successive Markovian packet dropouts. This paper adopts the Gilbert-Elliott channel model to describe the temporal correlation among packet losses, and proposes an update scheme to select the assumed available states for use in a sliding mode control law. A technique used in the theory of discrete-time Markov jump linear systems is applied to tackle the effect of the packet losses. This involves introducing a couple of Lyapunov functions dependent on the indicator functions of the instantaneous packet loss, and proving that the sliding mode controller is able to drive the system state trajectories into the neighborhood of the designed integral sliding surface in mean-square sense given that the corresponding Lyapunov inequalities are satisfied. The system is guaranteed thereafter to remain inside the neighborhood of the sliding surface. Simulated case studies are presented to illustrate the effectiveness of the control law.

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

PubMed

Wang, Jia-Jun

2012-11-01

X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Research on the Diesel Engine with Sliding Mode Variable Structure Theory

NASA Astrophysics Data System (ADS)

Ma, Zhexuan; Mao, Xiaobing; Cai, Le

2018-05-01

This study constructed the nonlinear mathematical model of the diesel engine high-pressure common rail (HPCR) system through two polynomial fitting which was treated as a kind of affine nonlinear system. Based on sliding-mode variable structure control (SMVSC) theory, a sliding-mode controller for affine nonlinear systems was designed for achieving the control of common rail pressure and the diesel engine’s rotational speed. Finally, on the simulation platform of MATLAB, the designed nonlinear HPCR system was simulated. The simulation results demonstrated that sliding-mode variable structure control algorithm shows favourable control performances which are overcoming the shortcomings of traditional PID control in overshoot, parameter adjustment, system precision, adjustment time and ascending time.

Backstepping sliding mode control with functional tuning based on an instantaneous power approach applied to an underwater vehicle

NASA Astrophysics Data System (ADS)

Santos, Carlos Henrique Farias dos; Cildoz, Mariana Uzeda; Terra, Marco Henrique; De Pieri, Edson Roberto

2018-03-01

In this paper, we present a modified backstepping sliding mode control to deal with Euler-Lagrange systems. The controller is applied in an underwater vehicle in order to show the effectiveness of the approach proposed. Instantaneous power data provided by the propulsion system are used to tune the controller in order to guarantee robust performance and energy saving. Thanks to the combination of an internal Proportional Integral and Derivative (PID) controller, it is possible implement high gains to deal with the influence of disturbances and uncertainties. A comparative study among this backstepping sliding mode controller and standard sliding mode controls is presented.

Adaptive sliding mode control for a class of chaotic systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Farid, R.; Ibrahim, A.; Zalam, B., E-mail: ramy5475@yahoo.com

2015-03-30

Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems.

PubMed

Bayramoglu, Husnu; Komurcugil, Hasan

2014-07-01

A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Integral Sliding Mode Fault-Tolerant Control for Uncertain Linear Systems Over Networks With Signals Quantization.

PubMed

Hao, Li-Ying; Park, Ju H; Ye, Dan

2017-09-01

In this paper, a new robust fault-tolerant compensation control method for uncertain linear systems over networks is proposed, where only quantized signals are assumed to be available. This approach is based on the integral sliding mode (ISM) method where two kinds of integral sliding surfaces are constructed. One is the continuous-state-dependent surface with the aim of sliding mode stability analysis and the other is the quantization-state-dependent surface, which is used for ISM controller design. A scheme that combines the adaptive ISM controller and quantization parameter adjustment strategy is then proposed. Through utilizing H ∞ control analytical technique, once the system is in the sliding mode, the nature of performing disturbance attenuation and fault tolerance from the initial time can be found without requiring any fault information. Finally, the effectiveness of our proposed ISM control fault-tolerant schemes against quantization errors is demonstrated in the simulation.

On decentralized adaptive full-order sliding mode control of multiple UAVs.

PubMed

Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

2017-11-01

In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Mechanics of dual-mode dilative failure in subaqueous sediment deposits

NASA Astrophysics Data System (ADS)

You, Yao; Flemings, Peter; Mohrig, David

2014-07-01

We introduce dual-mode dilative failure with flume experiments. Dual-mode dilative failure combines slow and steady release of sediments by breaching with periodic sliding, which rapidly releases an internally coherent wedge of sediments. It occurs in dilative sandy deposits. This periodic slope failure results from cyclic evolution of the excess pore pressure in the deposit. Sliding generates large, transient, negative excess pore pressure that strengthens the deposit and allows breaching to occur. During breaching, negative excess pore pressure dissipates, the deposit weakens, and ultimately sliding occurs once again. We show that the sliding frequency is proportional to the coefficient of consolidation. We find that thicker deposits are more susceptible to dual-mode dilative failure. Discovery of dual-mode dilative failure provides a new mechanism to consider when interpreting the sedimentary deposits linked to submarine slope failures.

Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control.

PubMed

Hou, Huazhou; Zhang, Qingling

2016-11-01

In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust adaptive sliding mode control for uncertain systems with unknown time-varying delay input.

PubMed

Benamor, Anouar; Messaoud, Hassani

2018-05-02

This article focuses on robust adaptive sliding mode control law for uncertain discrete systems with unknown time-varying delay input, where the uncertainty is assumed unknown. The main results of this paper are divided into three phases. In the first phase, we propose a new sliding surface is derived within the Linear Matrix Inequalities (LMIs). In the second phase, using the new sliding surface, the novel Robust Sliding Mode Control (RSMC) is proposed where the upper bound of uncertainty is supposed known. Finally, the novel approach of Robust Adaptive Sliding ModeControl (RASMC) has been defined for this type of systems, where the upper limit of uncertainty which is assumed unknown. In this new approach, we have estimate the upper limit of uncertainties and we have determined the control law based on a sliding surface that will converge to zero. This novel control laws are been validated in simulation on an uncertain numerical system with good results and comparative study. This efficiency is emphasized through the application of the new controls on the two physical systems which are the process trainer PT326 and hydraulic system two tanks. Published by Elsevier Ltd.

Orbit control of a stratospheric satellite with parameter uncertainties

NASA Astrophysics Data System (ADS)

Xu, Ming; Huo, Wei

2016-12-01

When a stratospheric satellite travels by prevailing winds in the stratosphere, its cross-track displacement needs to be controlled to keep a constant latitude orbital flight. To design the orbit control system, a 6 degree-of-freedom (DOF) model of the satellite is established based on the second Lagrangian formulation, it is proven that the input/output feedback linearization theory cannot be directly implemented for the orbit control with this model, thus three subsystem models are deduced from the 6-DOF model to develop a sequential nonlinear control strategy. The control strategy includes an adaptive controller for the balloon-tether subsystem with uncertain balloon parameters, a PD controller based on feedback linearization for the tether-sail subsystem, and a sliding mode controller for the sail-rudder subsystem with uncertain sail parameters. Simulation studies demonstrate that the proposed control strategy is robust to uncertainties and satisfies high precision requirements for the orbit flight of the satellite.

Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control.

PubMed

Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid

2017-03-01

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Hall, Charles; Jackson, Mark

2000-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

NASA Astrophysics Data System (ADS)

Cao, Lu; Qiao, Dong; Xu, Jingwen

2018-02-01

Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

Sliding mode stabilisation of networked systems with consecutive data packet dropouts using only accessible information

NASA Astrophysics Data System (ADS)

Argha, Ahmadreza; Li, Li; W. Su, Steven

2017-04-01

This paper develops a novel stabilising sliding mode for systems involving uncertainties as well as measurement data packet dropouts. In contrast to the existing literature that designs the switching function by using unavailable system states, a novel linear sliding function is constructed by employing only the available communicated system states for the systems involving measurement packet losses. This also equips us with the possibility to build a novel switching component for discrete-time sliding mode control (DSMC) by using only available system states. Finally, using a numerical example, we evaluate the performance of the designed DSMC for networked systems.

Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems

NASA Astrophysics Data System (ADS)

Ablay, Gunyaz

Using traditional control methods for controller design, parameter estimation and fault diagnosis may lead to poor results with nuclear systems in practice because of approximations and uncertainties in the system models used, possibly resulting in unexpected plant unavailability. This experience has led to an interest in development of robust control, estimation and fault diagnosis methods. One particularly robust approach is the sliding mode control methodology. Sliding mode approaches have been of great interest and importance in industry and engineering in the recent decades due to their potential for producing economic, safe and reliable designs. In order to utilize these advantages, sliding mode approaches are implemented for robust control, state estimation, secure communication and fault diagnosis in nuclear plant systems. In addition, a sliding mode output observer is developed for fault diagnosis in dynamical systems. To validate the effectiveness of the methodologies, several nuclear plant system models are considered for applications, including point reactor kinetics, xenon concentration dynamics, an uncertain pressurizer model, a U-tube steam generator model and a coupled nonlinear nuclear reactor model.

A Hybrid Nonlinear Control Scheme for Active Magnetic Bearings

NASA Technical Reports Server (NTRS)

Xia, F.; Albritton, N. G.; Hung, J. Y.; Nelms, R. M.

1996-01-01

A nonlinear control scheme for active magnetic bearings is presented in this work. Magnet winding currents are chosen as control inputs for the electromechanical dynamics, which are linearized using feedback linearization. Then, the desired magnet currents are enforced by sliding mode control design of the electromagnetic dynamics. The overall control scheme is described by a multiple loop block diagram; the approach also falls in the class of nonlinear controls that are collectively known as the 'integrator backstepping' method. Control system hardware and new switching power electronics for implementing the controller are described. Various experiments and simulation results are presented to demonstrate the concepts' potentials.

Robust passive control for a class of uncertain neutral systems based on sliding mode observer.

PubMed

Liu, Zhen; Zhao, Lin; Kao, Yonggui; Gao, Cunchen

2017-01-01

The passivity-based sliding mode control (SMC) problem for a class of uncertain neutral systems with unmeasured states is investigated. Firstly, a particular non-fragile state observer is designed to generate the estimations of the system states, based upon which a novel integral-type sliding surface function is established for the control process. Secondly, a new sufficient condition for robust asymptotic stability and passivity of the resultant sliding mode dynamics (SMDs) is obtained in terms of linear matrix inequalities (LMIs). Thirdly, the finite-time reachability of the predesigned sliding surface is ensured by resorting to a novel adaptive SMC law. Finally, the validity and superiority of the scheme are justified via several examples. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

NASA Astrophysics Data System (ADS)

Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

2016-01-01

In this paper, a new control structure for a quad-rotor helicopter that employs the least squares method is introduced. This proposed algorithm solves the overdetermined problem of the control input for the translational motion of a quad-rotor helicopter. The algorithm allows all six degrees of freedom to be considered to calculate the control input. The sliding mode controller is applied to achieve robust tracking and stabilization. A saturation function is designed around a boundary layer to reduce the chattering phenomenon that is a common problem in sliding mode control. In order to improve the tracking performance, an integral sliding surface is designed. An energy saving effect because of chattering reduction is also evaluated. First, the dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. Second, a constant plus proportional reaching law is introduced to increase the reaching rate of the sliding mode controller. Global stability of the proposed control strategy is guaranteed based on the Lyapunov's stability theory. Finally, the robustness and effectiveness of the proposed control system are demonstrated experimentally under wind gusts, and are compared with a regular sliding mode controller, a proportional-differential controller, and a proportional-integral-differential controller.

Sliding Mode Control of the X-33 Vehicle in Launch Mode

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Jackson, Mark; Hall, Charles; Krupp, Don; Hendrix, N. Douglas

1998-01-01

The "nested" structure of the control system for the X33 vehicle in launch mode is developed. Employing backstopping concepts, the outer loop (guidance) and the Inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance.

Does the Addition of M-Mode to B-Mode Ultrasound Increase the Accuracy of Identification of Lung Sliding in Traumatic Pneumothoraces?

PubMed

Avila, Jacob; Smith, Ben; Mead, Therese; Jurma, Duane; Dawson, Matthew; Mallin, Michael; Dugan, Adam

2018-04-24

It is unknown whether the addition of M-mode to B-mode ultrasound (US) has any effect on the overall accuracy of interpretation of lung sliding in the evaluation of a pneumothorax by emergency physicians. This study aimed to determine what effect, if any, this addition has on US interpretation by emergency physicians of varying training levels. One hundred forty emergency physicians were randomized via online software to receive a quiz with B-mode clips alone or B-mode with corresponding M-mode images and asked to identify the presence or absence of lung sliding. The sensitivity, specificity, and accuracy of the diagnosis of lung sliding with and without M-mode US were compared. Overall, the sensitivities, specificities, and accuracies of B-mode + M-mode US versus B-mode US alone were 93.1% and 93.2% (P = .8), 96.0% and 89.8% (P < .0001), and 91.5% and 94.5% (P = .0091), respectively. A subgroup analysis showed that in those providers with fewer than 250 total US scans done previously, M-mode US increased accuracy from 88.2% (95% confidence interval, 86.2%-90.2%) to 94.4% (92.8%-96.0%; P = .001) and increased the specificity from 87.0% (84.5%-89.5%) to 97.2% (95.4%-99.0%; P < .0001) compared with B-mode US alone. There was no statistically significant difference observed in the sensitivity, specificity, and accuracy of B-mode + M-mode US compared with B-mode US alone in those with more than 250 scans. The addition of M-mode images to B-mode clips aids in the accurate diagnosis of lung sliding by emergency physicians. The subgroup analysis showed that the benefit of M-mode US disappears after emergency physicians have performed more than 250 US examinations. © 2018 by the American Institute of Ultrasound in Medicine.

Sliding Mode Control of Dynamic Voltage Restorer by Using a New Adaptive Reaching Law

NASA Astrophysics Data System (ADS)

Pandey, Achala; Agrawal, Rekha; Mandloi, Ravindra S.; Sarkar, Biswaroop

2017-12-01

This paper presents a new kind of adaptive reaching law for sliding mode control of Dynamic Voltage Restorer (DVR). Such an adaptive reaching law follows under-damped sinusoidal nature that causes the initial state to reach the sliding regime in extremely less time with negligible chattering. Moreover, it is robust in the sense the trajectory does not deviate from the sliding surface. This new approach is developed and successfully applied to DVR. The simulation results are presented that show its robustness.

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

PubMed

Fei, Juntao; Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

Control of variable speed variable pitch wind turbine based on a disturbance observer

NASA Astrophysics Data System (ADS)

Ren, Haijun; Lei, Xin

2017-11-01

In this paper, a novel sliding mode controller based on disturbance observer (DOB) to optimize the efficiency of variable speed variable pitch (VSVP) wind turbine is developed and analyzed. Due to the highly nonlinearity of the VSVP system, the model is linearly processed to obtain the state space model of the system. Then, a conventional sliding mode controller is designed and a DOB is added to estimate wind speed. The proposed control strategy can successfully deal with the random nature of wind speed, the nonlinearity of VSVP system, the uncertainty of parameters and external disturbance. Via adding the observer to the sliding mode controller, it can greatly reduce the chattering produced by the sliding mode switching gain. The simulation results show that the proposed control system has the effectiveness and robustness.

Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

2017-04-01

Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.

Student perceptions of digital versus traditional slide use in undergraduate education.

PubMed

Solberg, Brooke L

2012-01-01

Digitized slides provide a number of intriguing benefits for educators. Before their implementation, however, educators should consider student opinion related to their use. This mixed-methods study directly compared Medical Laboratory Science (MLS) student perceptions of learning experiences in both digital and traditional slide laboratory settings. Results suggested that the majority of students preferred learning with digital slides, and numerous reasons for this preference were identified. Survey responses indicated that students using digital slides tended to view their performances, instructor feedback, and their learning environment more positively than students using traditional slides. Apprehensions about digital slide use were also detected from students preferring traditional slides. These findings provide a guide on how best to exploit both digital and traditional slides in an educational setting.

Smith predictor with sliding mode control for processes with large dead times

NASA Astrophysics Data System (ADS)

Mehta, Utkal; Kaya, İbrahim

2017-11-01

The paper discusses the Smith Predictor scheme with Sliding Mode Controller (SP-SMC) for processes with large dead times. This technique gives improved load-disturbance rejection with optimum input control signal variations. A power rate reaching law is incorporated in the sporadic part of sliding mode control such that the overall performance recovers meaningfully. The proposed scheme obtains parameter values by satisfying a new performance index which is based on biobjective constraint. In simulation study, the efficiency of the method is evaluated for robustness and transient performance over reported techniques.

Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique.

PubMed

Song, Zhankui; Li, Hongxing; Sun, Kaibiao

2014-01-01

In this paper, a fast terminal sliding mode control (FTSMC) scheme with double closed loops is proposed for the spacecraft attitude control. The FTSMC laws are included both in an inner control loop and an outer control loop. Firstly, a fast terminal sliding surface (FTSS) is constructed, which can drive the inner loop tracking-error and the outer loop tracking-error on the FTSS to converge to zero in finite time. Secondly, FTSMC strategy is designed by using Lyaponov's method for ensuring the occurrence of the sliding motion in finite time, which can hold the character of fast transient response and improve the tracking accuracy. It is proved that FTSMC can guarantee the convergence of tracking-error in both approaching and sliding mode surface. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter

PubMed Central

Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance. PMID:28797060

Sliding mode controller for a photovoltaic pumping system

NASA Astrophysics Data System (ADS)

ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

2017-03-01

In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor.

PubMed

Zhang, BiTao; Pi, YouGuo; Luo, Ying

2012-09-01

A fractional order sliding mode control (FROSMC) scheme based on parameters auto-tuning for the velocity control of permanent magnet synchronous motor (PMSM) is proposed in this paper. The control law of the proposed F(R)OSMC scheme is designed according to Lyapunov stability theorem. Based on the property of transferring energy with adjustable type in F(R)OSMC, this paper analyzes the chattering phenomenon in classic sliding mode control (SMC) is attenuated with F(R)OSMC system. A fuzzy logic inference scheme (FLIS) is utilized to obtain the gain of switching control. Simulations and experiments demonstrate that the proposed FROSMC not only achieve better control performance with smaller chatting than that with integer order sliding mode control, but also is robust to external load disturbance and parameter variations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Composite fuzzy sliding mode control of nonlinear singularly perturbed systems.

PubMed

Nagarale, Ravindrakumar M; Patre, B M

2014-05-01

This paper deals with the robust asymptotic stabilization for a class of nonlinear singularly perturbed systems using the fuzzy sliding mode control technique. In the proposed approach the original system is decomposed into two subsystems as slow and fast models by the singularly perturbed method. The composite fuzzy sliding mode controller is designed for stabilizing the full order system by combining separately designed slow and fast fuzzy sliding mode controllers. The two-time scale design approach minimizes the effect of boundary layer system on the full order system. A stability analysis allows us to provide sufficient conditions for the asymptotic stability of the full order closed-loop system. The simulation results show improved system performance of the proposed controller as compared to existing methods. The experimentation results validate the effectiveness of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Nonlinear integral sliding mode control design of photovoltaic pumping system: Real time implementation.

PubMed

Chihi, Asma; Ben Azza, Hechmi; Jemli, Mohamed; Sellami, Anis

2017-09-01

The aim of this paper is to provide high performance control of pumping system. The proposed method is designed by an indirect field oriented control based on Sliding Mode (SM) technique. The first contribution of this work is to design modified switching surfaces which presented by adding an integral action to the considered controlled variables. Then, in order to prevent the chattering phenomenon, modified nonlinear component is developed. The SM concept and a Lyapunov function are combined to compute the Sliding Mode Control (SMC) gains. Besides, the motor performance is validated by numeric simulations and real time implementation using a dSpace system with DS1104 controller board. Also, to show the effectiveness of the proposed approach, the obtained results are compared with other techniques such as conventional PI, Proportional Sliding Mode (PSM) and backstepping controls. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

NASA Astrophysics Data System (ADS)

Khan, Ayub; Tyagi, Arti

2018-05-01

In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

Sliding mode control based on Kalman filter dynamic estimation of battery SOC

NASA Astrophysics Data System (ADS)

He, Dongmeia; Hou, Enguang; Qiao, Xin; Liu, Guangmin

2018-06-01

Lithium-ion battery charge state of the accurate and rapid estimation of battery management system is the key technology. In this paper, an exponentially reaching law sliding-mode variable structure control algorithm based on Kalman filter is proposed to estimate the state of charge of Li-ion battery for the dynamic nonlinear system. The RC equivalent circuit model is established, and the model equation with specific structure is given. The proposed Kalman filter sliding mode structure is used to estimate the state of charge of the battery in the battery model, and the jitter effect can be avoided and the estimation performance can be improved. The simulation results show that the proposed Kalman filter sliding mode control has good accuracy in estimating the state of charge of the battery compared with the ordinary Kalman filter, and the error range is within 3%.

Vibration suppression in flexible structures via the sliding-mode control approach

NASA Technical Reports Server (NTRS)

Drakunov, S.; Oezguener, Uemit

1994-01-01

Sliding mode control became very popular recently because it makes the closed loop system highly insensitive to external disturbances and parameter variations. Sliding algorithms for flexible structures have been used previously, but these were based on finite-dimensional models. An extension of this approach for differential-difference systems is obtained. That makes if possible to apply sliding-mode control algorithms to the variety of nondispersive flexible structures which can be described as differential-difference systems. The main idea of using this technique for dispersive structures is to reduce the order of the controlled part of the system by applying an integral transformation. We can say that transformation 'absorbs' the dispersive properties of the flexible structure as the controlled part becomes dispersive.

Sliding Mode Control of the X-33 with an Engine Failure

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Hall, Charles E.

2000-01-01

Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

Sliding mode control for a two-joint coupling nonlinear system based on extended state observer.

PubMed

Zhao, Ling; Cheng, Haiyan; Wang, Tao

2018-02-01

A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot.

PubMed

Jin, Sangrok; Bak, Jeongae; Kim, Jongwon; Seo, TaeWon; Kim, Hwa Soo

2018-01-01

This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the previous PD control ensures stable hovering motion within a certain ranges of tilting speed, a PD-SMC is suggested in this paper by combining PD control with sliding mode control in order to achieve acceptable hovering performance even at the much lower tilting speeds. Also, the sign function in the sliding mode control is replaced by a sigmoid function to reduce undesired chattering. Simulations show that while PD control is effective only for tilting duration of 600 ms, the PD-based sliding mode control can guarantee the stable hovering motion of underwater robot even for the tilting duration of up to 1500 ms. Extensive experimental results confirm the hovering performance of the proposed PD-SMC method is much superior to that of PD method for much larger tilting durations.

Sliding mode control based impact angle control guidance considering the seeker׳s field-of-view constraint.

PubMed

Wang, Xingliang; Zhang, Youan; Wu, Huali

2016-03-01

The problem of impact angle control guidance for a field-of-view constrained missile against non-maneuvering or maneuvering targets is solved by using the sliding mode control theory. The existing impact angle control guidance laws with field-of-view constraint are only applicable against stationary targets and most of them suffer abrupt-jumping of guidance command due to the application of additional guidance mode switching logic. In this paper, the field-of-view constraint is handled without using any additional switching logic. In particular, a novel time-varying sliding surface is first designed to achieve zero miss distance and zero impact angle error without violating the field-of-view constraint during the sliding mode phase. Then a control integral barrier Lyapunov function is used to design the reaching law so that the sliding mode can be reached within finite time and the field-of-view constraint is not violated during the reaching phase as well. A nonlinear extended state observer is constructed to estimate the disturbance caused by unknown target maneuver, and the undesirable chattering is alleviated effectively by using the estimation as a compensation item in the guidance law. The performance of the proposed guidance law is illustrated with simulations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.

PubMed

Song, Zhankui; Sun, Kaibiao

2014-01-01

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Online Recorded Data-Based Composite Neural Control of Strict-Feedback Systems With Application to Hypersonic Flight Dynamics.

PubMed

Xu, Bin; Yang, Daipeng; Shi, Zhongke; Pan, Yongping; Chen, Badong; Sun, Fuchun

2017-09-25

This paper investigates the online recorded data-based composite neural control of uncertain strict-feedback systems using the backstepping framework. In each step of the virtual control design, neural network (NN) is employed for uncertainty approximation. In previous works, most designs are directly toward system stability ignoring the fact how the NN is working as an approximator. In this paper, to enhance the learning ability, a novel prediction error signal is constructed to provide additional correction information for NN weight update using online recorded data. In this way, the neural approximation precision is highly improved, and the convergence speed can be faster. Furthermore, the sliding mode differentiator is employed to approximate the derivative of the virtual control signal, and thus, the complex analysis of the backstepping design can be avoided. The closed-loop stability is rigorously established, and the boundedness of the tracking error can be guaranteed. Through simulation of hypersonic flight dynamics, the proposed approach exhibits better tracking performance.

Decentralized control experiments on NASA's flexible grid

NASA Technical Reports Server (NTRS)

Ozguner, U.; Yurkowich, S.; Martin, J., III; Al-Abbass, F.

1986-01-01

Methods arising from the area of decentralized control are emerging for analysis and control synthesis for large flexible structures. In this paper the control strategy involves a decentralized model reference adaptive approach using a variable structure control. Local models are formulated based on desired damping and response time in a model-following scheme for various modal configurations. Variable structure controllers are then designed employing co-located angular rate and position feedback. In this scheme local control forces the system to move on a local sliding mode in some local error space. An important feature of this approach is that the local subsystem is made insensitive to dynamical interactions with other subsystems once the sliding surface is reached. Experiments based on the above have been performed for NASA's flexible grid experimental apparatus. The grid is designed to admit appreciable low-frequency structural dynamics, and allows for implementation of distributed computing components, inertial sensors, and actuation devices. A finite-element analysis of the grid provides the model for control system design and simulation; results of several simulations are reported on here, and a discussion of application experiments on the apparatus is presented.

Closed-loop and robust control of quantum systems.

PubMed

Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.

1998-01-01

Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

NASA Astrophysics Data System (ADS)

Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

2017-12-01

In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

A new robust control scheme using second order sliding mode and fuzzy logic of a DFIM supplied by two five-level SVPWM inverters

NASA Astrophysics Data System (ADS)

Boudjema, Zinelaabidine; Taleb, Rachid; Bounadja, Elhadj

2017-02-01

Traditional filed oriented control strategy including proportional-integral (PI) regulator for the speed drive of the doubly fed induction motor (DFIM) have some drawbacks such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Therefore, based on the analysis of the mathematical model of a DFIM supplied by two five-level SVPWM inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. The conventional sliding mode control (SMC) has vast chattering effect on the electromagnetic torque developed by the DFIM. In order to resolve this problem, a second order sliding mode technique based on super twisting algorithm and fuzzy logic functions is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed control scheme were exposed including simple design of the control system, reduced chattering as well as the other advantages.

Sliding mode disturbance observer-based control of a twin rotor MIMO system.

PubMed

Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

2017-07-01

This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding Mode Control Applied to Reconfigurable Flight Control Design

NASA Technical Reports Server (NTRS)

Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)

2002-01-01

Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

NASA Astrophysics Data System (ADS)

Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

2017-12-01

In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

Anomaly Detection in Test Equipment via Sliding Mode Observers

NASA Technical Reports Server (NTRS)

Solano, Wanda M.; Drakunov, Sergey V.

2012-01-01

Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control allow not only control of the model internal states to the states of the real-life system, but also identification of the disturbance or anomaly that may occur.

Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS.

PubMed

Wang, Jianlin; Xu, Dan; Zhou, Huan; Zhou, Tao

2018-01-01

In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system.

Smith predictor based-sliding mode controller for integrating processes with elevated deadtime.

PubMed

Camacho, Oscar; De la Cruz, Francisco

2004-04-01

An approach to control integrating processes with elevated deadtime using a Smith predictor sliding mode controller is presented. A PID sliding surface and an integrating first-order plus deadtime model have been used to synthesize the controller. Since the performance of existing controllers with a Smith predictor decrease in the presence of modeling errors, this paper presents a simple approach to combining the Smith predictor with the sliding mode concept, which is a proven, simple, and robust procedure. The proposed scheme has a set of tuning equations as a function of the characteristic parameters of the model. For implementation of our proposed approach, computer based industrial controllers that execute PID algorithms can be used. The performance and robustness of the proposed controller are compared with the Matausek-Micić scheme for linear systems using simulations.

Freestanding triboelectric-layer-based nanogenerators for harvesting energy from a moving object or human motion in contact and non-contact modes.

PubMed

Wang, Sihong; Xie, Yannan; Niu, Simiao; Lin, Long; Wang, Zhong Lin

2014-05-01

For versatile mechanical energy harvesting from arbitrary moving objects such as humans, a new mode of triboelectric nanogenerator is developed based on the sliding of a freestanding triboelectric-layer between two stationary electrodes on the same plane. With two electrodes alternatively approached by the tribo-charges on the sliding layer, electricity is effectively generated due to electrostatic induction. A unique feature of this nanogenerator is that it can operate in non-contact sliding mode, which greatly increases the lifetime and the efficiency of such devices. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Robust Neural Sliding Mode Control of Robot Manipulators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nguyen Tran Hiep; Pham Thuong Cat

2009-03-05

This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method.

An Automated Blur Detection Method for Histological Whole Slide Imaging

PubMed Central

Moles Lopez, Xavier; D'Andrea, Etienne; Barbot, Paul; Bridoux, Anne-Sophie; Rorive, Sandrine; Salmon, Isabelle; Debeir, Olivier; Decaestecker, Christine

2013-01-01

Whole slide scanners are novel devices that enable high-resolution imaging of an entire histological slide. Furthermore, the imaging is achieved in only a few minutes, which enables image rendering of large-scale studies involving multiple immunohistochemistry biomarkers. Although whole slide imaging has improved considerably, locally poor focusing causes blurred regions of the image. These artifacts may strongly affect the quality of subsequent analyses, making a slide review process mandatory. This tedious and time-consuming task requires the scanner operator to carefully assess the virtual slide and to manually select new focus points. We propose a statistical learning method that provides early image quality feedback and automatically identifies regions of the image that require additional focus points. PMID:24349343

Adaptive nonlinear control for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Black, William S.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS

PubMed Central

Xu, Dan; Zhou, Huan; Zhou, Tao

2018-01-01

In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system. PMID:29702696

A novel adaptive switching function on fault tolerable sliding mode control for uncertain stochastic systems.

PubMed

Zahiripour, Seyed Ali; Jalali, Ali Akbar

2014-09-01

A novel switching function based on an optimization strategy for the sliding mode control (SMC) method has been provided for uncertain stochastic systems subject to actuator degradation such that the closed-loop system is globally asymptotically stable with probability one. In the previous researches the focus on sliding surface has been on proportional or proportional-integral function of states. In this research, from a degree of freedom that depends on designer choice is used to meet certain objectives. In the design of the switching function, there is a parameter which the designer can regulate for specified objectives. A sliding-mode controller is synthesized to ensure the reachability of the specified switching surface, despite actuator degradation and uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

PubMed

Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

2017-01-01

This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Chattering-Free Sliding Mode Control with Unmodeled Dynamics

NASA Technical Reports Server (NTRS)

Krupp, Don; Shtessel, Yuri B.

1999-01-01

Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter

PubMed Central

Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

2017-01-01

This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of “the controller parameters” on the “performance of double closed-loop system” is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot. PMID:29084255

High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter.

PubMed

Wang, Jianlin; Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

2017-01-01

This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of "the controller parameters" on the "performance of double closed-loop system" is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot.

Control of constraint forces and trajectories in a rich sensory and actuation environment.

PubMed

Hemami, Hooshang; Dariush, Behzad

2010-12-01

A simple control strategy is proposed and applied to a class of non-linear systems that have abundant sensory and actuation channels as in living systems. The main objective is the independent control of constrained trajectories of motion, and control of the corresponding constraint forces. The peripheral controller is a proportional, derivative and integral (PID) controller. A central controller produces, via pattern generators, reference signals that are the desired constrained position and velocity trajectories, and the desired constraint forces. The basic tenet of the this hybrid control strategy is the use of two mechanisms: 1. linear state and force feedback, and 2. non-linear constraint velocity feedback - sliding mode feedback. The first mechanism can be envisioned as a high gain feedback systems. The high gain attribute imitates the agonist-antagonist co-activation in natural systems. The strategy is applied to the control of the force and trajectory of a two-segment thigh-leg planar biped leg with a mass-less foot cranking a pedal that is analogous to a bicycle pedal. Five computational experiments are presented to show the effectiveness of the strategy and the performance of the controller. The findings of this paper are applicable to the design of orthoses and prostheses to supplement functional electrical stimulation for support purposes in the spinally injured cases. Copyright © 2010 Elsevier Inc. All rights reserved.

Neural network-based sliding mode control for atmospheric-actuated spacecraft formation using switching strategy

NASA Astrophysics Data System (ADS)

Sun, Ran; Wang, Jihe; Zhang, Dexin; Shao, Xiaowei

2018-02-01

This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.

Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

NASA Astrophysics Data System (ADS)

Mallory, Nicolas Joseph

The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation.

PubMed

Sun, Zhijian; Zhang, Guoqing; Lu, Yu; Zhang, Weidong

2018-01-01

This paper studies the leader-follower formation control of underactuated surface vehicles with model uncertainties and environmental disturbances. A parameter estimation and upper bound estimation based sliding mode control scheme is proposed to solve the problem of the unknown plant parameters and environmental disturbances. For each of these leader-follower formation systems, the dynamic equations of position and attitude are analyzed using coordinate transformation with the aid of the backstepping technique. All the variables are guaranteed to be uniformly ultimately bounded stable in the closed-loop system, which is proven by the distribution design Lyapunov function synthesis. The main advantages of this approach are that: first, parameter estimation based sliding mode control can enhance the robustness of the closed-loop system in presence of model uncertainties and environmental disturbances; second, a continuous function is developed to replace the signum function in the design of sliding mode scheme, which devotes to reduce the chattering of the control system. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

NASA Astrophysics Data System (ADS)

Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

2018-03-01

In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

Robust current control-based generalized predictive control with sliding mode disturbance compensation for PMSM drives.

PubMed

Liu, Xudong; Zhang, Chenghui; Li, Ke; Zhang, Qi

2017-11-01

This paper addresses the current control of permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and disturbances. A generalized predictive current control method combined with sliding mode disturbance compensation is proposed to satisfy the requirement of fast response and strong robustness. Firstly, according to the generalized predictive control (GPC) theory based on the continuous time model, a predictive current control method is presented without considering the disturbance, which is convenient to be realized in the digital controller. In fact, it's difficult to derive the exact motor model and parameters in the practical system. Thus, a sliding mode disturbance compensation controller is studied to improve the adaptiveness and robustness of the control system. The designed controller attempts to combine the merits of both predictive control and sliding mode control, meanwhile, the controller parameters are easy to be adjusted. Lastly, the proposed controller is tested on an interior PMSM by simulation and experiment, and the results indicate that it has good performance in both current tracking and disturbance rejection. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive super-twisting sliding mode control for a three-phase single-stage grid-connected differential boost inverter based photovoltaic system.

PubMed

Pati, Akshaya K; Sahoo, N C

2017-07-01

This paper presents an adaptive super-twisting sliding mode control (STC) along with double-loop control for voltage tracking performance of three-phase differential boost inverter and DC-link capacitor voltage regulation in grid-connected PV system. The effectiveness of the proposed control strategies are demonstrated under realistic scenarios such as variations in solar insolation, load power demand, grid voltage, and transition from grid-connected to standalone mode etc. Additional supplementary power quality control functions such as harmonic compensation, and reactive power management are also investigated with the proposed control strategy. The results are compared with conventional proportional-integral controller, and PWM sliding mode controller. The system performance is evaluated in simulation and in real-time. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sex-Role Learning: A Test of the Selective Attention Hypothesis

ERIC Educational Resources Information Center

Bryan, Janice Westlund; Luria, Zella

1978-01-01

Describes 2 experiments in which children ages 5-6 and 9-10 years viewed slides of male and female models performing matched acts which were sex-appropriate, sex-inappropriate, or sex-neutral. Visual attention was assessed by the method of feedback electroencephalography. Recall and preference for the slides were also measured. (Author/JMB)

Second order sliding mode control for a quadrotor UAV.

PubMed

Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

2014-07-01

A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Effect of Deformation Mode on the Wear Behavior of NiTi Shape Memory Alloys

NASA Astrophysics Data System (ADS)

Yan, Lina; Liu, Yong

2016-06-01

Owing to good biocompatibility, good fatigue resistance, and excellent superelasticity, various types of bio-medical devices based on NiTi shape memory alloy (SMA) have been developed. Due to the complexity in deformation mode in service, for example NiTi implants, accurate assessment/prediction of the surface wear process is difficult. This study aims at providing a further insight into the effect of deformation mode on the wear behavior of NiTi SMA. In the present study, two types of wear testing modes were used, namely sliding wear mode and reciprocating wear mode, to investigate the effect of deformation mode on the wear behavior of NiTi SMA in both martensitic and austenitic states. It was found that, when in martensitic state and under high applied loads, sliding wear mode resulted in more surface damage as compared to that under reciprocating wear mode. When in austenitic state, although similar trends in the coefficient of friction were observed, the coefficient of friction and surface damage in general is less under reciprocating mode than under sliding mode. These observations were further discussed in terms of different deformation mechanisms involved in the wear tests, in particular, the reversibility of martensite variant reorientation and stress-induced phase transformation, respectively.

Cytopathology whole slide images and virtual microscopy adaptive tutorials: A software pilot

PubMed Central

Van Es, Simone L.; Pryor, Wendy M.; Belinson, Zack; Salisbury, Elizabeth L.; Velan, Gary M.

2015-01-01

Background: The constant growth in the body of knowledge in medicine requires pathologists and pathology trainees to engage in continuing education. Providing them with equitable access to efficient and effective forms of education in pathology (especially in remote and rural settings) is important, but challenging. Methods: We developed three pilot cytopathology virtual microscopy adaptive tutorials (VMATs) to explore a novel adaptive E-learning platform (AeLP) which can incorporate whole slide images for pathology education. We collected user feedback to further develop this educational material and to subsequently deploy randomized trials in both pathology specialist trainee and also medical student cohorts. Cytopathology whole slide images were first acquired then novel VMATs teaching cytopathology were created using the AeLP, an intelligent tutoring system developed by Smart Sparrow. The pilot was run for Australian pathologists and trainees through the education section of Royal College of Pathologists of Australasia website over a period of 9 months. Feedback on the usability, impact on learning and any technical issues was obtained using 5-point Likert scale items and open-ended feedback in online questionnaires. Results: A total of 181 pathologists and pathology trainees anonymously attempted the three adaptive tutorials, a smaller proportion of whom went on to provide feedback at the end of each tutorial. VMATs were perceived as effective and efficient E-learning tools for pathology education. User feedback was positive. There were no significant technical issues. Conclusion: During this pilot, the user feedback on the educational content and interface and the lack of technical issues were helpful. Large scale trials of similar online cytopathology adaptive tutorials were planned for the future. PMID:26605119

Elastic properties of rigid fiber-reinforced composites

NASA Astrophysics Data System (ADS)

Chen, J.; Thorpe, M. F.; Davis, L. C.

1995-05-01

We study the elastic properties of rigid fiber-reinforced composites with perfect bonding between fibers and matrix, and also with sliding boundary conditions. In the dilute region, there exists an exact analytical solution. Around the rigidity threshold we find the elastic moduli and Poisson's ratio by decomposing the deformation into a compression mode and a rotation mode. For perfect bonding, both modes are important, whereas only the compression mode is operative for sliding boundary conditions. We employ the digital-image-based method and a finite element analysis to perform computer simulations which confirm our analytical predictions.

Design of permanent magnet synchronous motor speed loop controller based on sliding mode control algorithm

NASA Astrophysics Data System (ADS)

Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo

2018-03-01

Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.

Closed-Loop and Robust Control of Quantum Systems

PubMed Central

Wang, Lin-Cheng

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H ∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention. PMID:23997680

Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles

NASA Astrophysics Data System (ADS)

Rajaram, Vignesh; Subramanian, Shankar C.

2016-07-01

An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller.

Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

NASA Astrophysics Data System (ADS)

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

2018-03-01

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

Sliding mode control: an approach to regulate nonlinear chemical processes

PubMed

Camacho; Smith

2000-01-01

A new approach for the design of sliding mode controllers based on a first-order-plus-deadtime model of the process, is developed. This approach results in a fixed structure controller with a set of tuning equations as a function of the characteristic parameters of the model. The controller performance is judged by simulations on two nonlinear chemical processes.

Control of equipment isolation system using wavelet-based hybrid sliding mode control

NASA Astrophysics Data System (ADS)

Huang, Shieh-Kung; Loh, Chin-Hsiung

2017-04-01

Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non-structural components. The aim of this paper is to develop a hybrid control algorithm on the control of both structures and equipments simultaneously to overcome the limitations of classical feedback control through combining the advantage of classic LQR and SMC. To suppress vibrations with the frequency contents of strong earthquakes differing from the natural frequencies of civil structures, the hybrid control algorithms integrated with the wavelet-base vibration control algorithm is developed. The performance of classical, hybrid, and wavelet-based hybrid control algorithms as well as the responses of structure and non-structural components are evaluated and discussed through numerical simulation in this study.

Field-programmable analogue arrays for the sensorless control of DC motors

NASA Astrophysics Data System (ADS)

Rivera, J.; Dueñas, I.; Ortega, S.; Del Valle, J. L.

2018-02-01

This work presents the analogue implementation of a sensorless controller for direct current motors based on the super-twisting (ST) sliding mode technique, by means of field programmable analogue arrays (FPAA). The novelty of this work is twofold, first is the use of the ST algorithm in a sensorless scheme for DC motors, and the implementation method of this type of sliding mode controllers in FPAAs. The ST algorithm reduces the chattering problem produced with the deliberate use of the sign function in classical sliding mode approaches. On the other hand, the advantages of the implementation method over a digital one are that the controller is not digitally approximated, the controller gains are not fine tuned and the implementation does not require the use of analogue-to-digital and digital-to-analogue converter circuits. In addition to this, the FPAA is a reconfigurable, lower cost and power consumption technology. Simulation and experimentation results were registered, where a more accurate transient response and lower power consumption were obtained by the proposed implementation method when compared to a digital implementation. Also, a more accurate performance by the DC motor is obtained with proposed sensorless ST technique when compared with a classical sliding mode approach.

Sampled-data design for sliding mode control based on various robust specifications in open quantum system

NASA Astrophysics Data System (ADS)

Ji, Yinghua; Ju-Ju, Hu; Jian-Hua, Huang; Qiang, Ke

Due to the influence of decoherence, the quantum state probably evolves from the initial pure state to the mixed state, resulting in loss of fidelity, coherence and purity, which is deteriorating for quantum information transmission. Thus, in quantum engineering, quantum control should not only realize the transfer and track of quantum states through manipulation of the external electromagnetic field but also enhance the robustness against decoherence. In this paper, we aim to design a control law to steer the system into the sliding mode domain and maintain it in that domain when bounded uncertainties exist in the system Hamiltonian. We first define the required control performance by fidelity, degree of coherence and purity in terms of the uncertainty of the Hamiltonian in Markovian open quantum system. By characterizing the required robustness using a sliding mode domain, a sampled-data design method is introduced for decoherence control in the quantum system. Furthermore, utilizing the sampled data, a control scheme has been designed on the basis of sliding mode control, and the choice of sampling operator and driving of quantum state during the sampling by the Lyapunov control method are discussed.

Observer-based higher order sliding mode control of power factor in three-phase AC/DC converter for hybrid electric vehicle applications

NASA Astrophysics Data System (ADS)

Liu, Jianxing; Laghrouche, Salah; Wack, Maxime

2014-06-01

In this paper, a full-bridge boost power converter topology is studied for power factor control, using output higher order sliding mode control. The AC/DC converters are used for charging the battery and super-capacitor in hybrid electric vehicles from the utility. The proposed control forces the input currents to track the desired values, which can control the output voltage while keeping the power factor close to one. Super-twisting sliding mode observer is employed to estimate the input currents and load resistance only from the measurement of output voltage. Lyapunov analysis shows the asymptotic convergence of the closed-loop system to zero. Multi-rate simulation illustrates the effectiveness and robustness of the proposed controller in the presence of measurement noise.

Investigation on the Nonlinear Control System of High-Pressure Common Rail (HPCR) System in a Diesel Engine

NASA Astrophysics Data System (ADS)

Cai, Le; Mao, Xiaobing; Ma, Zhexuan

2018-02-01

This study first constructed the nonlinear mathematical model of the high-pressure common rail (HPCR) system in the diesel engine. Then, the nonlinear state transformation was performed using the flow’s calculation and the standard state space equation was acquired. Based on sliding-mode variable structure control (SMVSC) theory, a sliding-mode controller for nonlinear systems was designed for achieving the control of common rail pressure and the diesel engine’s rotational speed. Finally, on the simulation platform of MATLAB, the designed nonlinear HPCR system was simulated. The simulation results demonstrate that sliding-mode variable structure control algorithm shows favorable control performances and overcome the shortcomings of traditional PID control in overshoot, parameter adjustment, system precision, adjustment time and ascending time.

Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

PubMed

Chen, Gang; Song, Yongduan; Guan, Yanfeng

2018-03-01

This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

Feedback stabilization of resistive wall modes in a reversed-field pinch

NASA Astrophysics Data System (ADS)

Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Cecconello, M.; Drake, J. R.; Manduchi, G.; Marchiori, G.

2005-09-01

An array of saddle coils having Nc=16 equally spaced positions along the toroidal direction has been installed for feedback control of resistive wall modes (RWMs) on the EXTRAP T2R reversed-field pinch [P. R. Brunsell, H. Bergsaker, M. Cecconello et al., Plasma Phys. Controlled Fusion 43, 1457 (2001)]. Using feedback, multiple nonresonant RWMs are simultaneously suppressed for three to four wall times. Feedback stabilization of RWMs results in a significant prolongation of the discharge duration. This is linked to a better sustainment of the plasma and tearing mode toroidal rotation with feedback. Due to the limited number of coils in the toroidal direction, pairs of modes with toroidal mode numbers n ,n' that fulfill the condition ∣n-n'∣=Nc are coupled by the feedback action from the discrete coil array. With only one unstable mode in a pair of coupled modes, the suppression of the unstable mode is successful. If two modes are unstable in a coupled pair, two possibilities exist: partial suppression of both modes or, alternatively, complete stabilization of one target mode while the other is left unstable.

Fuzzy control system for a remote focusing microscope

NASA Astrophysics Data System (ADS)

Weiss, Jonathan J.; Tran, Luc P.

1992-01-01

Space Station Crew Health Care System procedures require the use of an on-board microscope whose slide images will be transmitted for analysis by ground-based microbiologists. Focusing of microscope slides is low on the list of crew priorities, so NASA is investigating the option of telerobotic focusing controlled by the microbiologist on the ground, using continuous video feedback. However, even at Space Station distances, the transmission time lag may disrupt the focusing process, severely limiting the number of slides that can be analyzed within a given bandwidth allocation. Substantial time could be saved if on-board automation could pre-focus each slide before transmission. The authors demonstrate the feasibility of on-board automatic focusing using a fuzzy logic ruled-based system to bring the slide image into focus. The original prototype system was produced in under two months and at low cost. Slide images are captured by a video camera, then digitized by gray-scale value. A software function calculates an index of 'sharpness' based on gray-scale contrasts. The fuzzy logic rule-based system uses feedback to set the microscope's focusing control in an attempt to maximize sharpness. The systems as currently implemented performs satisfactorily in focusing a variety of slide types at magnification levels ranging from 10 to 1000x. Although feasibility has been demonstrated, the system's performance and usability could be improved substantially in four ways: by upgrading the quality and resolution of the video imaging system (including the use of full color); by empirically defining and calibrating the index of image sharpness; by letting the overall focusing strategy vary depending on user-specified parameters; and by fine-tuning the fuzzy rules, set definitions, and procedures used.

On the application of frequency selective common mode feedback for multifrequency EIT.

PubMed

Langlois, Peter J; Wu, Yu; Bayford, Richard H; Demosthenous, Andreas

2015-06-01

Common mode voltages are frequently a problem in electrical impedance tomography (EIT) and other bioimpedance applications. To reduce their amplitude common mode feedback is employed. Formalised analyses of both current and voltage feedback is presented in this paper for current drives. Common mode effects due to imbalances caused by the current drives, the electrode connections to the body load and the introduction of the body impedance to ground are considered. Frequency selective narrowband common mode feedback previously proposed to provide feedback stability is examined. As a step towards multifrequency applications the use of narrowband feedback is experimentally demonstrated for two simultaneous current drives. Measured results using standard available components show a reduction of 62 dB for current feedback and 31 dB for voltage feedback. Frequencies ranged from 50 kHz to 1 MHz.

A sliding mode control proposal for open-loop unstable processes.

PubMed

Rojas, Rubén; Camacho, Oscar; González, Luis

2004-04-01

This papers presents a sliding mode controller based on a first-order-plus-dead-time model of the process for controlling open-loop unstable systems. The proposed controller has a simple and fixed structure with a set of tuning equations as a function of the desired performance. Both linear and nonlinear models were used to study the controller performance by computer simulations.

Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

NASA Astrophysics Data System (ADS)

Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

2018-05-01

When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.

Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Chenguang; Liu, Wandong; Li, Hong

2014-12-15

The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425more » (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes.« less

Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

PubMed

Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

2016-09-01

This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback attitude sliding mode regulation control of spacecraft using arm motion

NASA Astrophysics Data System (ADS)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Tuning the Slide-Roll Motion Mode of Carbon Nanotubes via Hydroxyl Groups

NASA Astrophysics Data System (ADS)

Li, Rui; Wang, Shiwei; Peng, Qing

2018-05-01

Controlling the motion of carbon nanotubes is critical in manipulating nanodevices, including nanorobots. Herein, we investigate the motion behavior of SWCNT (10,10) on Si substrate utilizing molecular dynamics simulations. We show that hydroxyl groups have sensitive effect on the carbon nanotube's motion mode. When the hydroxyl groups' ratio on carbon nanotube and silicon substrate surfaces is larger than 10 and 20%, respectively, the motion of carbon nanotube transforms from sliding to rolling. When the hydroxyl groups' ratio is smaller, the slide or roll mode can be controlled by the speed of carbon nanotube, which is ultimately determined by the competition between the interface potential energy and kinetic energy. The change of motion mode holds true for different carbon nanotubes with hydroxyl groups. The chirality has little effect on the motion behavior, as opposed to the diameter, attributed to the hydroxyl groups' ratio. Our study suggests a new route to control the motion behavior of carbon nanotube via hydroxyl groups.

Tuning the Slide-Roll Motion Mode of Carbon Nanotubes via Hydroxyl Groups.

PubMed

Li, Rui; Wang, Shiwei; Peng, Qing

2018-05-08

Controlling the motion of carbon nanotubes is critical in manipulating nanodevices, including nanorobots. Herein, we investigate the motion behavior of SWCNT (10,10) on Si substrate utilizing molecular dynamics simulations. We show that hydroxyl groups have sensitive effect on the carbon nanotube's motion mode. When the hydroxyl groups' ratio on carbon nanotube and silicon substrate surfaces is larger than 10 and 20%, respectively, the motion of carbon nanotube transforms from sliding to rolling. When the hydroxyl groups' ratio is smaller, the slide or roll mode can be controlled by the speed of carbon nanotube, which is ultimately determined by the competition between the interface potential energy and kinetic energy. The change of motion mode holds true for different carbon nanotubes with hydroxyl groups. The chirality has little effect on the motion behavior, as opposed to the diameter, attributed to the hydroxyl groups' ratio. Our study suggests a new route to control the motion behavior of carbon nanotube via hydroxyl groups.

Uncertainty Quantification for Robust Control of Wind Turbines using Sliding Mode Observer

NASA Astrophysics Data System (ADS)

Schulte, Horst

2016-09-01

A new quantification method of uncertain models for robust wind turbine control using sliding-mode techniques is presented with the objective to improve active load mitigation. This approach is based on the so-called equivalent output injection signal, which corresponds to the average behavior of the discontinuous switching term, establishing and maintaining a motion on a so-called sliding surface. The injection signal is directly evaluated to obtain estimates of the uncertainty bounds of external disturbances and parameter uncertainties. The applicability of the proposed method is illustrated by the quantification of a four degree-of-freedom model of the NREL 5MW reference turbine containing uncertainties.

A novel continuous fractional sliding mode control

NASA Astrophysics Data System (ADS)

Muñoz-Vázquez, A. J.; Parra-Vega, V.; Sánchez-Orta, A.

2017-10-01

A new fractional-order controller is proposed, whose novelty is twofold: (i) it withstands a class of continuous but not necessarily differentiable disturbances as well as uncertainties and unmodelled dynamics, and (ii) based on a principle of dynamic memory resetting of the differintegral operator, it is enforced an invariant sliding mode in finite time. Both (i) and (ii) account for exponential convergence of tracking errors, where such principle is instrumental to demonstrate the closed-loop stability, robustness and a sustained sliding motion, as well as that high frequencies are filtered out from the control signal. The proposed methodology is illustrated with a representative simulation study.

Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

PubMed

Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

2015-07-01

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

2017-12-01

This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

Free-space optics mode-wavelength division multiplexing system using LG modes based on decision feedback equalization

NASA Astrophysics Data System (ADS)

Amphawan, Angela; Ghazi, Alaan; Al-dawoodi, Aras

2017-11-01

A free-space optics mode-wavelength division multiplexing (MWDM) system using Laguerre-Gaussian (LG) modes is designed using decision feedback equalization for controlling mode coupling and combating inter symbol interference so as to increase channel diversity. In this paper, a data rate of 24 Gbps is achieved for a FSO MWDM channel of 2.6 km in length using feedback equalization. Simulation results show significant improvement in eye diagrams and bit-error rates before and after decision feedback equalization.

Terminal Sliding Modes In Nonlinear Control Systems

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T.; Gulati, Sandeep

1993-01-01

Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

Technology Evaluation and Integration for Heavy Tactical Vehicles

DTIC Science & Technology

2010-08-17

for Movie - May have to Exit slide show mode UNCLASSIFIED Key Findings- Modular Hydraulic Powered Generator • Hydraulic powered alternator proved...for Movie - May have to Exit slide show mode UNCLASSIFIED PPMS Key Findings Findings: • Hybrid starting system proved functional • Works with wide...to compute inter- vehicle closing distance & stopping time. • Provide audible/visual alert to driver inside their reaction time window. • Use COTS

Robust and real-time rotor control with magnetic bearings

NASA Technical Reports Server (NTRS)

Sinha, A.; Wang, K. W.; Mease, K. L.

1991-01-01

This paper deals with the sliding mode control of a rigid rotor via radial magnetic bearings. The digital control algorithm and the results from numerical simulations are presented for an experimental rig. The experimental system which has been set up to digitally implement and validate the sliding mode control algorithm is described. Two methods for the development of control softwares are presented. Experimental results for individual rotor axis are discussed.

Model-free adaptive sliding mode controller design for generalized projective synchronization of the fractional-order chaotic system via radial basis function neural networks

NASA Astrophysics Data System (ADS)

Wang, L. M.

2017-09-01

A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master-slave system and to overcome the bad effects of the external disturbances on the generalized projective synchronization, the radial basis function neural networks are used to approach the packaged unknown master system and the packaged unknown slave system (including the external disturbances). Consequently, based on the slide mode technology and the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized projective synchronization error. The main contribution of this paper is that a control strategy is provided for the generalized projective synchronization between two entirely unknown fractional-order chaotic systems subject to the unknown external disturbances, and the proposed control strategy only requires that the master system has the same fractional orders as the slave system. Moreover, the proposed method allows us to achieve all kinds of generalized projective chaos synchronizations by turning the user-defined parameters onto the desired values. Simulation results show the effectiveness of the proposed method and the robustness of the controlled system.

Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

NASA Astrophysics Data System (ADS)

Zhao, Yakun; Huang, Panfeng; Zhang, Fan

2018-02-01

Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

Optimal tracking and second order sliding power control of the DFIG wind turbine

NASA Astrophysics Data System (ADS)

Abdeddaim, S.; Betka, A.; Charrouf, O.

2017-02-01

In the present paper, an optimal operation of a grid-connected variable speed wind turbine equipped with a Doubly Fed Induction Generator (DFIG) is presented. The proposed cascaded nonlinear controller is designed to perform two main objectives. In the outer loop, a maximum power point tracking (MPPT) algorithm based on fuzzy logic theory is designed to permanently extract the optimal aerodynamic energy, whereas in the inner loop, a second order sliding mode control (2-SM) is applied to achieve smooth regulation of both stator active and reactive powers quantities. The obtained simulation results show a permanent track of the MPP point regardless of the turbine power-speed slope moreover the proposed sliding mode control strategy presents attractive features such as chattering-free, compared to the conventional first order sliding technique (1-SM).

A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter.

PubMed

Shabbouei Hagh, Yashar; Mohammadi Asl, Reza; Cocquempot, Vincent

2017-01-01

In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H ∞ control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Flexible Modes Control Using Sliding Mode Observers: Application to Ares I

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Hall, Charles E.; Baev, Simon; Orr, Jeb S.

2010-01-01

The launch vehicle dynamics affected by bending and sloshing modes are considered. Attitude measurement data that are corrupted by flexible modes could yield instability of the vehicle dynamics. Flexible body and sloshing modes are reconstructed by sliding mode observers. The resultant estimates are used to remove the undesirable dynamics from the measurements, and the direct effects of sloshing and bending modes on the launch vehicle are compensated by means of a controller that is designed without taking the bending and sloshing modes into account. A linearized mathematical model of Ares I launch vehicle was derived based on FRACTAL, a linear model developed by NASA/MSFC. The compensated vehicle dynamics with a simple PID controller were studied for the launch vehicle model that included two bending modes, two slosh modes and actuator dynamics. A simulation study demonstrated stable and accurate performance of the flight control system with the augmented simple PID controller without the use of traditional linear bending filters.

Achieving increased bandwidth for 4 degree of freedom self-tuning energy harvester

NASA Astrophysics Data System (ADS)

Staaf, L. G. H.; Smith, A. D.; Köhler, E.; Lundgren, P.; Folkow, P. D.; Enoksson, P.

2018-04-01

The frequency response of a self-tuning energy harvester composed of two piezoelectric cantilevers connected by a middle beam with a sliding mass is investigated. Measurements show that incorporation of a free-sliding mass increases the bandwidth. Using an analytical model, the system is explained through close investigation of the resonance modes. Resonance mode behavior further suggests that, by breaking the symmetry of the system, even broader bandwidths are achievable.

Implementation of fuzzy-sliding mode based control of a grid connected photovoltaic system.

PubMed

Menadi, Abdelkrim; Abdeddaim, Sabrina; Ghamri, Ahmed; Betka, Achour

2015-09-01

The present work describes an optimal operation of a small scale photovoltaic system connected to a micro-grid, based on both sliding mode and fuzzy logic control. Real time implementation is done through a dSPACE 1104 single board, controlling a boost chopper on the PV array side and a voltage source inverter (VSI) on the grid side. The sliding mode controller tracks permanently the maximum power of the PV array regardless of atmospheric condition variations, while The fuzzy logic controller (FLC) regulates the DC-link voltage, and ensures via current control of the VSI a quasi-total transit of the extracted PV power to the grid under a unity power factor operation. Simulation results, carried out via Matlab-Simulink package were approved through experiment, showing the effectiveness of the proposed control techniques. Copyright © 2015. Published by Elsevier Ltd.

Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

NASA Astrophysics Data System (ADS)

Lee, Min Cheol; Park, Min Kyu; Yoo, Wan Suk; Son, Kwon; Han, Myung Chul

This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.

Phase-synchroniser based on gm-C all-pass filter chain with sliding mode control

NASA Astrophysics Data System (ADS)

Mitić, Darko B.; Jovanović, Goran S.; Stojčev, Mile K.; Antić, Dragan S.

2015-03-01

Phase-synchronisers have many applications in VLSI circuit designs. They are used in CMOS RF circuits including phase (de)modulators, phase recovery circuits, multiphase synthesis, etc. In this article, a phase-synchroniser based on gm-C all-pass filter chain with sliding mode control is presented. The filter chain provides good controllable delay characteristics over the full range of phase and frequency regulation, without deterioration of input signal amplitude and waveform, while the sliding mode control enables us to achieve fast and predetermined finite locking time. IHP 0.25 µm SiGe BiCMOS technology has been used in design and verification processes. The circuit operates in the frequency range from 33 MHz up to 150 MHz. Simulation results indicate that it is possible to achieve very fast synchronisation time period, which is approximately four time intervals of the input signal during normal operation, and 20 time intervals during power-on.

A novel guidance law using fast terminal sliding mode control with impact angle constraints.

PubMed

Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

2016-09-01

This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Xu; Liu, Rui; Zhang, Jiucai

2016-08-21

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by amore » sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.« less

Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.

PubMed

Castañeda, Herman; Salas-Peña, Oscar S; León-Morales, Jesús de

2017-01-01

This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

"Discoveries in Planetary Sciences": Slide Sets Highlighting New Advances for Astronomy Educators

NASA Astrophysics Data System (ADS)

Brain, David; Schneider, N.; Molaverdikhani, K.; Afsharahmadi, F.

2012-10-01

We present two new features of an ongoing effort to bring recent newsworthy advances in planetary science to undergraduate lecture halls. The effort, called 'Discoveries in Planetary Sciences', summarizes selected recently announced discoveries that are 'too new for textbooks' in the form of 3-slide PowerPoint presentations. The first slide describes the discovery, the second slide discusses the underlying planetary science concepts at a level appropriate for students of 'Astronomy 101', and the third presents the big picture implications of the discovery. A fourth slide includes links to associated press releases, images, and primary sources. This effort is generously sponsored by the Division for Planetary Sciences of the American Astronomical Society, and the slide sets are available at http://dps.aas.org/education/dpsdisc/ for download by undergraduate instructors or any interested party. Several new slide sets have just been released, and we summarize the topics covered. The slide sets are also being translated into languages other than English (including Spanish and Farsi), and we will provide an overview of the translation strategy and process. Finally, we will present web statistics on how many people are using the slide sets, as well as individual feedback from educators.

Asymmetric dual-loop feedback to suppress spurious tones and reduce timing jitter in self-mode-locked quantum-dash lasers emitting at 155 μm

NASA Astrophysics Data System (ADS)

Asghar, Haroon; McInerney, John G.

2017-09-01

We demonstrate an asymmetric dual-loop feedback scheme to suppress external cavity side-modes induced in self-mode-locked quantum-dash lasers with conventional single and dual-loop feedback. In this letter, we achieved optimal suppression of spurious tones by optimizing the length of second delay time. We observed that asymmetric dual-loop feedback, with large (~8x) disparity in cavity lengths, eliminates all external-cavity side-modes and produces flat RF spectra close to the main peak with low timing jitter compared to single-loop feedback. Significant reduction in RF linewidth and reduced timing jitter was also observed as a function of increased second feedback delay time. The experimental results based on this feedback configuration validate predictions of recently published numerical simulations. This interesting asymmetric dual-loop feedback scheme provides simplest, efficient and cost effective stabilization of side-band free optoelectronic oscillators based on mode-locked lasers.

Sliding mode control method having terminal convergence in finite time

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T. (Inventor); Gulati, Sandeep (Inventor)

1994-01-01

An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters.

Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

NASA Astrophysics Data System (ADS)

Keum, Jung-Hoon; Ra, Sung-Woong

2009-12-01

Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

Feedback error learning control of magnetic satellites using type-2 fuzzy neural networks with elliptic membership functions.

PubMed

Khanesar, Mojtaba Ahmadieh; Kayacan, Erdal; Reyhanoglu, Mahmut; Kaynak, Okyay

2015-04-01

A novel type-2 fuzzy membership function (MF) in the form of an ellipse has recently been proposed in literature, the parameters of which that represent uncertainties are de-coupled from its parameters that determine the center and the support. This property has enabled the proposers to make an analytical comparison of the noise rejection capabilities of type-1 fuzzy logic systems with its type-2 counterparts. In this paper, a sliding mode control theory-based learning algorithm is proposed for an interval type-2 fuzzy logic system which benefits from elliptic type-2 fuzzy MFs. The learning is based on the feedback error learning method and not only the stability of the learning is proved but also the stability of the overall system is shown by adding an additional component to the control scheme to ensure robustness. In order to test the efficiency and efficacy of the proposed learning and the control algorithm, the trajectory tracking problem of a magnetic rigid spacecraft is studied. The simulations results show that the proposed control algorithm gives better performance results in terms of a smaller steady state error and a faster transient response as compared to conventional control algorithms.

Nonlinear adaptive control based on fuzzy sliding mode technique and fuzzy-based compensator.

PubMed

Nguyen, Sy Dzung; Vo, Hoang Duy; Seo, Tae-Il

2017-09-01

It is difficult to efficiently control nonlinear systems in the presence of uncertainty and disturbance (UAD). One of the main reasons derives from the negative impact of the unknown features of UAD as well as the response delay of the control system on the accuracy rate in the real time of the control signal. In order to deal with this, we propose a new controller named CO-FSMC for a class of nonlinear control systems subjected to UAD, which is constituted of a fuzzy sliding mode controller (FSMC) and a fuzzy-based compensator (CO). Firstly, the FSMC and CO are designed independently, and then an adaptive fuzzy structure is discovered to combine them. Solutions for avoiding the singular cases of the fuzzy-based function approximation and reducing the calculating cost are proposed. Based on the solutions, fuzzy sliding mode technique, lumped disturbance observer and Lyapunov stability analysis, a closed-loop adaptive control law is formulated. Simulations along with a real application based on a semi-active train-car suspension are performed to fully evaluate the method. The obtained results reflected that vibration of the chassis mass is insensitive to UAD. Compared with the other fuzzy sliding mode control strategies, the CO-FSMC can provide the best control ability to reduce unwanted vibrations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Effects of ridge cracking and interface sliding on morphological symmetry breaking in straight-sided blisters

NASA Astrophysics Data System (ADS)

Li, Shi-Chen; Yu, Sen-Jiang; He, Linghui; Ni, Yong

2018-03-01

Complex surface patterns generated by nonlinear buckling originate from various symmetry-breaking instabilities. Identifying possible key factors that regulate the instability modes is critical to reveal the mechanism of the surface pattern selection. In this paper, how another two factors (ridge cracking and interface sliding) including Poisson's ratio influence the morphological symmetry breaking in straight-sided blisters are systematically studied. Morphology diagrams from stability analysis show that ridge cracking and low Poisson's ratio promote symmetric instability mode and favor bubble-like blisters while interface sliding and high Poisson's ratio facilitate antisymmetric instability mode and result in telephone cord buckles. The analytical predictions are evidenced by experimental observations on annealed silicon nitride films on glass substrates and confirmed by nonlinear numerical simulations. This study explains how and why the rarely observed bubble-like blisters in accompany with ridge crack can appear in brittle thin films in comparison with the ubiquitously observed telephone cord buckles that usually form as the development of an antisymmetric instability mode when straight-sided blisters undergo the super-critical isotropic compression.

Seismic analysis and design of bridge abutments considering sliding and rotation

DOT National Transportation Integrated Search

1997-09-15

Current displacement based seismic design of gravity retaining walls utilizes a sliding block idealization, and considers only a translation mode of deformation. Authors update and extend the coupled equations of motion that appear in the literature....

A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

NASA Astrophysics Data System (ADS)

Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

2018-05-01

Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

Fractional order uncertainty estimator based hierarchical sliding mode design for a class of fractional order non-holonomic chained system.

PubMed

Deepika; Kaur, Sandeep; Narayan, Shiv

2018-06-01

This paper proposes a novel fractional order sliding mode control approach to address the issues of stabilization as well as tracking of an N-dimensional extended chained form of fractional order non-holonomic system. Firstly, the hierarchical fractional order terminal sliding manifolds are selected to procure the desired objectives in finite time. Then, a sliding mode control law is formulated which provides robustness against various system uncertainties or external disturbances. In addition, a novel fractional order uncertainty estimator is deduced mathematically to estimate and mitigate the effects of uncertainties, which also excludes the requirement of their upper bounds. Due to the omission of discontinuous control action, the proposed algorithm ensures a chatter-free control input. Moreover, the finite time stability of the closed loop system has been proved analytically through well known Mittag-Leffler and Fractional Lyapunov theorems. Finally, the proposed methodology is validated with MATLAB simulations on two examples including an application of fractional order non-holonomic wheeled mobile robot and its performances are also compared with the existing control approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive extended-state observer-based fault tolerant attitude control for spacecraft with reaction wheels

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; de Ruiter, Anton; Xiao, Bing

2018-04-01

This study presents an adaptive second-order sliding control scheme to solve the attitude fault tolerant control problem of spacecraft subject to system uncertainties, external disturbances and reaction wheel faults. A novel fast terminal sliding mode is preliminarily designed to guarantee that finite-time convergence of the attitude errors can be achieved globally. Based on this novel sliding mode, an adaptive second-order observer is then designed to reconstruct the system uncertainties and the actuator faults. One feature of the proposed observer is that the design of the observer does not necessitate any priori information of the upper bounds of the system uncertainties and the actuator faults. In view of the reconstructed information supplied by the designed observer, a second-order sliding mode controller is developed to accomplish attitude maneuvers with great robustness and precise tracking accuracy. Theoretical stability analysis proves that the designed fault tolerant control scheme can achieve finite-time stability of the closed-loop system, even in the presence of reaction wheel faults and system uncertainties. Numerical simulations are also presented to demonstrate the effectiveness and superiority of the proposed control scheme over existing methodologies.

Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

PubMed

Hao, Li-Ying; Yang, Guang-Hong

2013-09-01

This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Active control of multiple resistive wall modes

NASA Astrophysics Data System (ADS)

Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Bolzonella, T.; Cecconello, M.; Drake, J. R.; Kuldkepp, M.; Manduchi, G.; Marchiori, G.; Marrelli, L.; Martin, P.; Menmuir, S.; Ortolani, S.; Rachlew, E.; Spizzo, G.; Zanca, P.

2005-12-01

A two-dimensional array of saddle coils at Mc poloidal and Nc toroidal positions is used on the EXTRAP T2R reversed-field pinch (Brunsell P R et al 2001 Plasma Phys. Control. Fusion 43 1457) to study active control of resistive wall modes (RWMs). Spontaneous growth of several RWMs with poloidal mode number m = 1 and different toroidal mode number n is observed experimentally, in agreement with linear MHD modelling. The measured plasma response to a controlled coil field and the plasma response computed using the linear circular cylinder MHD model are in quantitive agreement. Feedback control introduces a linear coupling of modes with toroidal mode numbers n, n' that fulfil the condition |n - n'| = Nc. Pairs of coupled unstable RWMs are present in feedback experiments with an array of Mc × Nc = 4 × 16 coils. Using intelligent shell feedback, the coupled modes are generally not controlled even though the field is suppressed at the active coils. A better suppression of coupled modes may be achieved in the case of rotating modes by using the mode control feedback scheme with individually set complex gains. In feedback with a larger array of Mc × Nc = 4 × 32 coils, the coupling effect largely disappears, and with this array, the main internal RWMs n = -11, -10, +5, +6 are all simultaneously suppressed throughout the discharge (7 8 wall times). With feedback there is a two-fold extension of the pulse length, compared to discharges without feedback.

Sliding-mode control of single input multiple output DC-DC converter

NASA Astrophysics Data System (ADS)

Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

2016-10-01

Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

Sliding-mode control of single input multiple output DC-DC converter.

PubMed

Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

2016-10-01

Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees.

PubMed

Oliveira, Tiago Roux; Costa, Luiz Rennó; Catunda, João Marcos Yamasaki; Pino, Alexandre Visintainer; Barbosa, William; Souza, Márcio Nogueira de

2017-06-01

This paper addresses the application of the sliding mode approach to control the arm movements by artificial recruitment of muscles using Neuromuscular Electrical Stimulation (NMES). Such a technique allows the activation of motor nerves using surface electrodes. The goal of the proposed control system is to move the upper limbs of subjects through electrical stimulation to achieve a desired elbow angular displacement. Since the human neuro-motor system has individual characteristics, being time-varying, nonlinear and subject to uncertainties, the use of advanced robust control schemes may represent a better solution than classical Proportional-Integral (PI) controllers and model-based approaches, being simpler than more sophisticated strategies using fuzzy logic or neural networks usually applied in this control problem. The objective is the introduction of a new time-scaling base sliding mode control (SMC) strategy for NMES and its experimental evaluation. The main qualitative advantages of the proposed controller via time-scaling procedure are its independence of the knowledge of the plant relative degree and the design/tuning simplicity. The developed sliding mode strategy allows for chattering alleviation due to the impact of the integrator in smoothing the control signal. In addition, no differentiator is applied to construct the sliding surface. The stability analysis of the closed-loop system is also carried out by using singular perturbation methods. Experimental results are conducted with healthy volunteers as well as stroke patients. Quantitative results show a reduction of 45% in terms of root mean square (RMS) error (from 5.9° to [Formula: see text] ) in comparison with PI control scheme, which is similar to that obtained in the literature. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Effects of soil-engineering properties on the failure mode of shallow landslides

USGS Publications Warehouse

McKenna, Jonathan Peter; Santi, Paul Michael; Amblard, Xavier; Negri, Jacquelyn

2012-01-01

Some landslides mobilize into flows, while others slide and deposit material immediately down slope. An index based on initial dry density and fine-grained content of soil predicted failure mode of 96 landslide initiation sites in Oregon and Colorado with 79% accuracy. These material properties can be used to identify potential sources for debris flows and for slides. Field data suggest that loose soils can evolve from dense soils that dilate upon shearing. The method presented herein to predict failure mode is most applicable for shallow (depth 8), with few to moderate fines (fine-grained content <18%), and with liquid limits <40.

The dynamic behaviour of data-driven Δ-M and ΔΣ-M in sliding mode control

NASA Astrophysics Data System (ADS)

Almakhles, Dhafer; Swain, Akshya K.; Nasiri, Alireza

2017-11-01

In recent years, delta (Δ-M) and delta-sigma modulators (ΔΣ-M) are increasingly being used as efficient data converters due to numerous advantages they offer. This paper investigates various dynamical features of these modulators/systems (both in continuous and discrete time domain) and derives their stability conditions using the theory of sliding mode. The upper bound of the hitting time (step) has been estimated. The equivalent mode conditions, i.e. where the outputs of the modulators are equivalent to the inputs, are established. The results of the analysis are validated through simulations considering a numerical example.

MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

NASA Technical Reports Server (NTRS)

Wells, S. R.; Hess, R. A.

2002-01-01

A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

Hardware implementation of Lorenz circuit systems for secure chaotic communication applications.

PubMed

Chen, Hsin-Chieh; Liau, Ben-Yi; Hou, Yi-You

2013-02-18

This paper presents the synchronization between the master and slave Lorenz chaotic systems by slide mode controller (SMC)-based technique. A proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. Then, extending the concept of equivalent control and using some basic electronic components, a secure communication system is constructed. Experimental results show the feasibility of synchronizing two Lorenz circuits via the proposed SMC. 

Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.

PubMed

Jarrett, C; McDaid, A J

2017-07-01

A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.

Noise effects on robust synchronization of a small pacemaker neuronal ensemble via nonlinear controller: electronic circuit design.

PubMed

Megam Ngouonkadi, Elie Bertrand; Fotsin, Hilaire Bertrand; Kabong Nono, Martial; Louodop Fotso, Patrick Herve

2016-10-01

In this paper, we report on the synchronization of a pacemaker neuronal ensemble constituted of an AB neuron electrically coupled to two PD neurons. By the virtue of this electrical coupling, they can fire synchronous bursts of action potential. An external master neuron is used to induce to the whole system the desired dynamics, via a nonlinear controller. Such controller is obtained by a combination of sliding mode and feedback control. The proposed controller is able to offset uncertainties in the synchronized systems. We show how noise affects the synchronization of the pacemaker neuronal ensemble, and briefly discuss its potential benefits in our synchronization scheme. An extended Hindmarsh-Rose neuronal model is used to represent a single cell dynamic of the network. Numerical simulations and Pspice implementation of the synchronization scheme are presented. We found that, the proposed controller reduces the stochastic resonance of the network when its gain increases.

Enhancement of vehicle dynamics via an innovative magnetorheological fluid limited slip differential

NASA Astrophysics Data System (ADS)

Russo, Riccardo; Strano, Salvatore; Terzo, Mario

2016-03-01

A new automotive controllable differential is proposed and tested, firstly in software environment and, successively, following a hardware in the loop procedure based on the employment of the physical prototype. The device is based on the employment of magnetorheological fluid, whose magnetization allows to generate the locking torque and, consequently, the corrective yaw moment. A vehicle model has been derived and adopted for the design of a yaw moment controller based on the sliding mode approach. Some feedbacks requested by the controller have been estimated by means of an extended Kalman filter. The obtained results show the effectiveness of the device in terms of vehicle dynamics improvement. Indeed, the results reached by the vehicle in presence of the new differential confirm the improved performances for both steady and unsteady state manoeuvres. Moreover, the hardware in the loop testing allows to overcome the limits due to the modelling of the differential, fully validating the physical prototype.

Annular Mode Dynamics: Eddy Feedbacks and the Underlying Mechanisms

NASA Astrophysics Data System (ADS)

Hassanzadeh, P.; Ma, D.; Kuang, Z.

2017-12-01

Annular modes are the leading modes the extratropical circulation variability in both hemispheres on intraseasonal to interannual timescales. Temporal persistence and an equivalent-barotropic dipolar wind anomaly are the key spatio-temporal characteristics of the annular modes. The potential source(s) of this persistence, and in particular, whether there is a contribution from a positive eddy-jet feedback, are still unclear (e.g., Lorenz and Hartmann, 2001; Byrne et al., 2016). The mechanism of this feedback, and how it depends on processes such as surface friction, is also not well understood (e.g., Robinson, 2000; Gerber et al., 2007). In this study, we utilize the recently calculated Linear Response Function (LRF) of an idealized GCM (Hassanzadeh and Kuang, 2016). The LRF enables us to accurately calculate the response of eddy momentum/heat fluxes to the zonal-mean zonal wind and temperature anomalies of the annular mode. Using this information: 1) We confirm the existence of a positive eddy-jet feedback in the annular mode of the idealized GCM and accurately quantify the magnitude of this feedback; 2) We quantify the contribution of key processes (e.g., eddy momentum/heat fluxes and surface friction) to the annular mode dynamics in the idealized GCM. We show that as proposed by Robinson (2000), the baroclinic component of the annular mode and surface friction are essential for the positive eddy-jet feedback. Results show that this feedback increases the persistence of the annular mode by a factor of two. We also show that the barotropic component of the annular mode alone does not lead to persistence. In fact, the eddy-jet feedback for the barotropic component is negative because of the dominance of the barotropic governor effect. 3) Using the results of 1, we evaluate the underlying assumptions and accuracy of the statistical methods previously developed for quantifying the eddy-jet feedback (Lorenz and Hartmann, 2001; Simpson et al., 2013) and introduce a new statistical method that shows superior accuracy. We apply the new method to reanalysis data to quantify the eddy-jet feedback for the Southern Annular Mode. The key findings of 1-3 and their implications for our understanding of the annular mode dynamics will be discussed in this presentation.

Finite time state and disturbance estimation for robust performance of motion control systems using sliding modes

NASA Astrophysics Data System (ADS)

Tamhane, Bhagyashri; Kurode, Shailaja

2018-05-01

In this paper, simultaneous state and disturbance estimation of a drive system composed of motor connected to a load is proposed. Such a system is represented by a two mass model realising in a fourth-order plant. Backlash is introduced as the nonlinear disturbance in gears which is proposed to be estimated and in turn compensated. For this motion control system, a two-stage higher order sliding-mode observer is proposed for state and backlash estimation. The novelty lies in the fact that for this fourth-order system, output is considered from the motor end only, i.e. its angular displacement. The unmeasured states consisting of output derivative, load-side angular displacement and its derivative along with backlash are estimated in finite time. This disturbance due to backlash is unmatched in nature. The estimated states and disturbance are used to devise a robust sliding-mode control. This proposed scheme is validated in simulation and experimentation.

Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

PubMed

Ebrahimkhani, Sadegh

2016-07-01

Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Convergence analysis of sliding mode trajectories in multi-objective neural networks learning.

PubMed

Costa, Marcelo Azevedo; Braga, Antonio Padua; de Menezes, Benjamin Rodrigues

2012-09-01

The Pareto-optimality concept is used in this paper in order to represent a constrained set of solutions that are able to trade-off the two main objective functions involved in neural networks supervised learning: data-set error and network complexity. The neural network is described as a dynamic system having error and complexity as its state variables and learning is presented as a process of controlling a learning trajectory in the resulting state space. In order to control the trajectories, sliding mode dynamics is imposed to the network. It is shown that arbitrary learning trajectories can be achieved by maintaining the sliding mode gains within their convergence intervals. Formal proofs of convergence conditions are therefore presented. The concept of trajectory learning presented in this paper goes further beyond the selection of a final state in the Pareto set, since it can be reached through different trajectories and states in the trajectory can be assessed individually against an additional objective function. Copyright © 2012 Elsevier Ltd. All rights reserved.

Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation.

PubMed

Chang, Jing; Cieslak, Jérôme; Dávila, Jorge; Zolghadri, Ali; Zhou, Jun

2017-11-01

The problem addressed in this paper is that of quadrotor roll and pitch estimation without any assumption about the knowledge of perturbation bounds when Inertial Measurement Units (IMU) data or position measurements are available. A Smooth Sliding Mode (SSM) algorithm is first designed to provide reliable estimation under a smooth disturbance assumption. This assumption is next relaxed with the second proposed Adaptive Sliding Mode (ASM) algorithm that deals with disturbances of unknown bounds. In addition, the analysis of the observers are extended to the case where measurements are corrupted by bias and noise. The gains of the proposed algorithms were deduced from the Lyapunov function. Furthermore, some useful guidelines are provided for the selection of the observer turning parameters. The performance of these two approaches is evaluated using a nonlinear simulation model and considering either accelerometer or position measurements. The simulation results demonstrate the benefits of the proposed solutions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter.

PubMed

Zeghlache, Samir; Benslimane, Tarak; Bouguerra, Abderrahmen

2017-11-01

In this paper, a robust controller for a three degree of freedom (3 DOF) helicopter control is proposed in presence of actuator and sensor faults. For this purpose, Interval type-2 fuzzy logic control approach (IT2FLC) and sliding mode control (SMC) technique are used to design a controller, named active fault tolerant interval type-2 Fuzzy Sliding mode controller (AFTIT2FSMC) based on non-linear adaptive observer to estimate and detect the system faults for each subsystem of the 3-DOF helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller. Exponential stability of the closed loop is guaranteed by using the Lyapunov method. The simulation results show that the AFTIT2FSMC can greatly alleviate the chattering effect, providing good tracking performance, even in presence of actuator and sensor faults. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Tunable deformation modes shape contractility in active biopolymer networks

NASA Astrophysics Data System (ADS)

Stam, Samantha; Banerjee, Shiladitya; Weirich, Kim; Freedman, Simon; Dinner, Aaron; Gardel, Margaret

Biological polymer-based materials remodel under active, molecular motor-driven forces to perform diverse physiological roles, such as force transmission and spatial self-organization. Critical to understanding these biomaterials is elucidating the role of microscopic polymer deformations, such as stretching, bending, buckling, and relative sliding, on material remodeling. Here, we report that the shape of motor-driven deformations can be used to identify microscopic deformation modes and determine how they propagate to longer length scales. In cross-linked actin networks with sufficiently low densities of the motor protein myosin II, microscopic network deformations are predominantly uniaxial, or dominated by sliding. However, longer-wavelength modes are mostly biaxial, or dominated by bending and buckling, indicating that deformations with uniaxial shapes do not propagate across length scales significantly larger than that of individual polymers. As the density of myosin II is increased, biaxial modes dominate on all length scales we examine due to buildup of sufficient stress to produce smaller-wavelength buckling. In contrast, when we construct networks from unipolar, rigid actin bundles, we observe uniaxial, sliding-based contractions on 1 to 100 μm length scales. Our results demonstrate the biopolymer mechanics can be used to tune deformation modes which, in turn, control shape changes in active materials.

Study of a control strategy for grid side converter in doubly- fed wind power system

NASA Astrophysics Data System (ADS)

Zhu, D. J.; Tan, Z. L.; Yuan, F.; Wang, Q. Y.; Ding, M.

2016-08-01

The grid side converter is an important part of the excitation system of doubly-fed asynchronous generator used in wind power system. As a three-phase voltage source PWM converter, it can not only transfer slip power in the form of active power, but also adjust the reactive power of the grid. This paper proposed a control approach for improving its performance. In this control approach, the dc voltage is regulated by a sliding mode variable structure control scheme and current by a variable structure controller based on the input output linearization. The theoretical bases of the sliding mode variable structure control were introduced, and the stability proof was presented. Switching function of the system has been deduced, sliding mode voltage controller model has been established, and the output of the outer voltage loop is the instruction of the inner current loop. Affine nonlinear model of two input two output equations on d-q axis for current has been established its meeting conditions of exact linearization were proved. In order to improve the anti-jamming capability of the system, a variable structure control was added in the current controller, the control law was deduced. The dual-loop control with sliding mode control in outer voltage loop and linearization variable structure control in inner current loop was proposed. Simulation results demonstrate the effectiveness of the proposed control strategy even during the dc reference voltage and system load variation.

Emergence of resonant mode-locking via delayed feedback in quantum dot semiconductor lasers.

PubMed

Tykalewicz, B; Goulding, D; Hegarty, S P; Huyet, G; Erneux, T; Kelleher, B; Viktorov, E A

2016-02-22

With conventional semiconductor lasers undergoing external optical feedback, a chaotic output is typically observed even for moderate levels of the feedback strength. In this paper we examine single mode quantum dot lasers under strong optical feedback conditions and show that an entirely new dynamical regime is found consisting of spontaneous mode-locking via a resonance between the relaxation oscillation frequency and the external cavity repetition rate. Experimental observations are supported by detailed numerical simulations of rate equations appropriate for this laser type. The phenomenon constitutes an entirely new mode-locking mechanism in semiconductor lasers.

Monolithic quasi-sliding-mode controller for SIDO buck converter with a self-adaptive free-wheeling current level

NASA Astrophysics Data System (ADS)

Xiaobo, Wu; Qing, Liu; Menglian, Zhao; Mingyang, Chen

2013-01-01

An analog implementation of a novel fixed-frequency quasi-sliding-mode controller for single-inductor dual-output (SIDO) buck converter in pseudo-continuous conduction mode (PCCM) with a self-adaptive freewheeling current level (SFCL) is presented. Both small and large signal variations around the operation point are considered to achieve better transient response so as to reduce the cross-regulation of this SIDO buck converter. Moreover, an internal integral loop is added to suppress the steady-state regulation error introduced by conventional PWM-based sliding mode controllers. Instead of keeping it as a constant value, the free-wheeling current level varies according to the load condition to maintain high power efficiency and less cross-regulation at the same time. To verify the feasibility of the proposed controller, an SIDO buck converter with two regulated output voltages, 1.8 V and 3.3 V, is designed and fabricated in HEJIAN 0.35 μm CMOS process. Simulation and experiment results show that the transient time of this SIDO buck converter drops to 10 μs while the cross-regulation is reduced to 0.057 mV/mA, when its first load changes from 50 to 100 mA.

Investigation of Spatial Control Strategies for AHWR: A Comparative Study

NASA Astrophysics Data System (ADS)

Munje, R. K.; Patre, B. M.; Londhe, P. S.; Tiwari, A. P.; Shimjith, S. R.

2016-04-01

Large nuclear reactors such as the Advanced Heavy Water Reactor (AHWR), are susceptible to xenon-induced spatial oscillations in which, though the core average power remains constant, the power distribution may be nonuniform as well as it might experience unstable oscillations. Such oscillations influence the operation and control philosophy and could also drive safety issues. Therefore, large nuclear reactors are equipped with spatial controllers which maintain the core power distribution close to desired distribution during all the facets of operation and following disturbances. In this paper, the case of AHWR has been considered, for which a number of different types of spatial controllers have been designed during the last decade. Some of these designs are based on output feedback while the others are based on state feedback. Also, both the conventional and modern control concepts, such as linear quadratic regulator theory, sliding mode control, multirate output feedback control and fuzzy control have been investigated. The designs of these different controllers for the AHWR have been carried out using a 90th order model, which is highly stiff. Hence, direct application of design methods suffers with numerical ill-conditioning. Singular perturbation and time-scale methods have been applied whereby the design problem for the original higher order system is decoupled into two or three subproblems, each of which is solved separately. Nonlinear simulations have been carried out to obtain the transient responses of the system with different types of controllers and their performances have been compared.

Revealing Grain Boundary Sliding from Textures of a Deformed Nanocrystalline Pd–Au Alloy

PubMed Central

Skrotzki, Werner; Zhao, Yajun; Pukenas, Aurimas; Birringer, Rainer

2018-01-01

Employing a recent modeling scheme for grain boundary sliding [Zhao et al. Adv. Eng. Mater. 2017, doi:10.1002/adem.201700212], crystallographic textures were simulated for nanocrystalline fcc metals deformed in shear compression. It is shown that, as grain boundary sliding increases, the texture strength decreases while the signature of the texture type remains the same. Grain boundary sliding affects the texture components differently with respect to intensity and angular position. A comparison of a simulation and an experiment on a Pd–10 atom % Au alloy with a 15 nm grain size reveals that, at room temperature, the predominant deformation mode is grain boundary sliding contributing to strain by about 60%. PMID:29370130

An investigation on dry sliding wear behaviour of AA6061-AlNp composite

NASA Astrophysics Data System (ADS)

Mahesh Naidu, K.; Mohan Reddy, Chandra

2018-03-01

This paper studies the effect of load, sliding distance, reinforcement percentage and temperature on dry sliding wear behaviour of Al-AlNp composites by using pin on disc machine. The wear test was conducted at different loads (1,2,3 & 4 Kg), temperatures (30°C, 100°C, 170°C & 240°C) and sliding distances (500m,1000m,1500m and 2000m). Increase in wear rate has been observed by increasing the load and sliding distance, at the same time it has been decreased by increasing the reinforcement percentage and temperature. At the higher loads, temperatures and sliding distances adhesive wear, abrasive wear and oxidation wear are observed to be dominant modes of wear mechanisms in the composite.

Control of nonlinear systems using terminal sliding modes

NASA Technical Reports Server (NTRS)

Venkataraman, S. T.; Gulati, S.

1992-01-01

The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.

Feedback-Driven Mode Rotation Control by Electro-Magnetic Torque

NASA Astrophysics Data System (ADS)

Okabayashi, M.; Strait, E. J.; Garofalo, A. M.; La Haye, R. J.; in, Y.; Hanson, J. M.; Shiraki, D.; Volpe, F.

2013-10-01

The recent experimental discovery of feedback-driven mode rotation control, supported by modeling, opens new approaches for avoidance of locked tearing modes that otherwise lead to disruptions. This approach is an application of electro-magnetic (EM) torque using 3D fields, routinely maximized through a simple feedback system. In DIII-D, it is observed that a feedback-applied radial field can be synchronized in phase with the poloidal field component of a large amplitude tearing mode, producing the maximum EM torque input. The mode frequency can be maintained in the 10 Hz to 100 Hz range in a well controlled manner, sustaining the discharges. Presently, in the ITER internal coils designed for edge localized mode (ELM) control can only be varied at few Hz, yet, well below the inverse wall time constant. Hence, ELM control system could in principle be used for this feedback-driven mode control in various ways. For instance, the locking of MHD modes can be avoided during the controlled shut down of multi hundreds Mega Joule EM stored energy in case of emergency. Feedback could also be useful to minimize mechanical resonances at the disruption events by forcing the MHD frequency away from dangerous ranges. Work supported by the US DOE under DE-AC02-09CH11466, DE-FC-02-04ER54698, DE-FG02-08ER85195, and DE-FG02-04ER54761.

LPV gain-scheduled control of SCR aftertreatment systems

NASA Astrophysics Data System (ADS)

Meisami-Azad, Mona; Mohammadpour, Javad; Grigoriadis, Karolos M.; Harold, Michael P.; Franchek, Matthew A.

2012-01-01

Hydrocarbons, carbon monoxide and some of other polluting emissions produced by diesel engines are usually lower than those produced by gasoline engines. While great strides have been made in the exhaust aftertreatment of vehicular pollutants, the elimination of nitrogen oxide (NO x ) from diesel vehicles is still a challenge. The primary reason is that diesel combustion is a fuel-lean process, and hence there is significant unreacted oxygen in the exhaust. Selective catalytic reduction (SCR) is a well-developed technology for power plants and has been recently employed for reducing NO x emissions from automotive sources and in particular, heavy-duty diesel engines. In this article, we develop a linear parameter-varying (LPV) feedforward/feedback control design method for the SCR aftertreatment system to decrease NO x emissions while keeping ammonia slippage to a desired low level downstream the catalyst. The performance of the closed-loop system obtained from the interconnection of the SCR system and the output feedback LPV control strategy is then compared with other control design methods including sliding mode, and observer-based static state-feedback parameter-varying control. To reduce the computational complexity involved in the control design process, the number of LPV parameters in the developed quasi-LPV (qLPV) model is reduced by applying the principal component analysis technique. An LPV feedback/feedforward controller is then designed for the qLPV model with reduced number of scheduling parameters. The designed full-order controller is further simplified to a first-order transfer function with a parameter-varying gain and pole. Finally, simulation results using both a low-order model and a high-fidelity and high-order model of SCR reactions in GT-POWER interfaced with MATLAB/SIMULINK illustrate the high NO x conversion efficiency of the closed-loop SCR system using the proposed parameter-varying control law.

Continuing medical education, continuing professional development, and knowledge translation: improving care of older patients by practicing physicians.

PubMed

Thomas, David C; Johnston, Bree; Dunn, Kathel; Sullivan, Gail M; Brett, Belle; Matzko, Marilyn; Levine, Sharon A

2006-10-01

Many community-based internists and family physicians lack familiarity with geriatrics knowledge and best practices, but they face overwhelming fiscal and time barriers to expanding their skills and improving their behavior in the care of older people. Traditional lecture-and-slide-show continuing medical education (CME) programs have been shown to be relatively ineffective in changing this target group's practice. The challenge for geriatrics educators, then, is to devise CME programs that are highly accessible to practicing physicians, that will have an immediate and significant effect on practitioners' behavior, and that are financially viable. Studies of CME have shown that the most effective programs for knowledge translation in these circumstances involve what is known as active-mode learning, which relies on interactive, targeted, and multifaceted techniques. A systematic literature review, supplemented by structured interviews, was performed to inventory active-mode learning techniques for geriatrics knowledge and skills in the United States. Thirteen published articles met the criteria, and leaders of 28 active-mode CME programs were interviewed. This systematic review indicates that there is a substantial experience in geriatrics training for community-based physicians, much of which is unpublished and incompletely evaluated. It appears that the most effective methods to change behaviors involved multiple educational efforts such as written materials or toolkits combined with feedback and strong communication channels between instructors and learners.

Effect of feedback mode and task difficulty on quality of timing decisions in a zero-sum game.

PubMed

Tikuisis, Peter; Vartanian, Oshin; Mandel, David R

2014-09-01

The objective was to investigate the interaction between the mode of performance outcome feedback and task difficulty on timing decisions (i.e., when to act). Feedback is widely acknowledged to affect task performance. However, the extent to which feedback display mode and its impact on timing decisions is moderated by task difficulty remains largely unknown. Participants repeatedly engaged a zero-sum game involving silent duels with a computerized opponent and were given visual performance feedback after each engagement. They were sequentially tested on three different levels of task difficulty (low, intermediate, and high) in counterbalanced order. Half received relatively simple "inside view" binary outcome feedback, and the other half received complex "outside view" hit rate probability feedback. The key dependent variables were response time (i.e., time taken to make a decision) and survival outcome. When task difficulty was low to moderate, participants were more likely to learn and perform better from hit rate probability feedback than binary outcome feedback. However, better performance with hit rate feedback exacted a higher cognitive cost manifested by higher decision response time. The beneficial effect of hit rate probability feedback on timing decisions is partially moderated by task difficulty. Performance feedback mode should be judiciously chosen in relation to task difficulty for optimal performance in tasks involving timing decisions.

Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study

PubMed Central

Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

2015-01-01

Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin–blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results. PMID:26284169

Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study.

PubMed

Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

2015-01-01

Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin-blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results.

SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

DOE Office of Scientific and Technical Information (OSTI.GOV)

Podder, T

Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system.more » Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.« less

Variable speed wind turbine control by discrete-time sliding mode approach.

PubMed

Torchani, Borhen; Sellami, Anis; Garcia, Germain

2016-05-01

The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Tailoring plasmonic properties of nanobeam composites by the sliding disorder

NASA Astrophysics Data System (ADS)

Gric, Tatjana; Hess, Ortwin

2017-11-01

Nanobeam composites are important for designing sensing, nonlinear, and emission functionalities. Here, we describe a method for tuning the plasmonic properties of a silver nanobeam-based metamaterial. Such metamaterials open the wide avenues for a variety of applications in the fields of bio- and chemical sensing, nonlinearity enhancement, and fluorescence control. Specifically, we present the boundary between two nanobeam composites stacked together and exhibiting the sliding disorder. The modes are tunable. We simulated the solutions of surface plasmon polaritons (SPP) modes and their propagations. The configuration proposed here makes a breakthrough of the conventional configuration allowing for optimizations of SPP properties and making SPP application more flexible in practices. The wide plasmonic tuning range of nanobeam composites makes them promising in metamaterial-based optoelectronic devices. The plasma frequency is found to be tailored by the sliding disorder.

Dynamic curvature regulation accounts for the symmetric and asymmetric beats of Chlamydomonas flagella

PubMed Central

Sartori, Pablo; Geyer, Veikko F; Scholich, Andre; Jülicher, Frank; Howard, Jonathon

2016-01-01

Cilia and flagella are model systems for studying how mechanical forces control morphology. The periodic bending motion of cilia and flagella is thought to arise from mechanical feedback: dynein motors generate sliding forces that bend the flagellum, and bending leads to deformations and stresses, which feed back and regulate the motors. Three alternative feedback mechanisms have been proposed: regulation by the sliding forces, regulation by the curvature of the flagellum, and regulation by the normal forces that deform the cross-section of the flagellum. In this work, we combined theoretical and experimental approaches to show that the curvature control mechanism is the one that accords best with the bending waveforms of Chlamydomonas flagella. We make the surprising prediction that the motors respond to the time derivative of curvature, rather than curvature itself, hinting at an adaptation mechanism controlling the flagellar beat. DOI: http://dx.doi.org/10.7554/eLife.13258.001 PMID:27166516

Exploring Learner Perception and Use of Task-Based Interactional Feedback in FTF and CMC Modes

ERIC Educational Resources Information Center

Gurzynski-Weiss, Laura; Baralt, Melissa

2014-01-01

Theoretical claims about the benefits of corrective feedback have been largely premised on learners' noticing of feedback (e.g., Gass & Mackey, 2006; Long, 1996; Schmidt, 1990, 1995; Swain, 1995), and findings have demonstrated that both the feedback target (Mackey, Gass, & McDonough, 2000) and the mode of provision (Lai & Zhao,…

Decentralized finite-time attitude synchronization for multiple rigid spacecraft via a novel disturbance observer.

PubMed

Zong, Qun; Shao, Shikai

2016-11-01

This paper investigates decentralized finite-time attitude synchronization for a group of rigid spacecraft by using quaternion with the consideration of environmental disturbances, inertia uncertainties and actuator saturation. Nonsingular terminal sliding mode (TSM) is used for controller design. Firstly, a theorem is proven that there always exists a kind of TSM that converges faster than fast terminal sliding mode (FTSM) for quaternion-descripted attitude control system. Controller with this kind of TSM has faster convergence and reduced computation than FTSM controller. Then, combining with an adaptive parameter estimation strategy, a novel terminal sliding mode disturbance observer is proposed. The proposed disturbance observer needs no upper bound information of the lumped uncertainties or their derivatives. On the basis of undirected topology and the disturbance observer, decentralized attitude synchronization control laws are designed and all attitude errors are ensured to converge to small regions in finite time. As for actuator saturation problem, an auxiliary variable is introduced and accommodated by the disturbance observer. Finally, simulation results are given and the effectiveness of the proposed control scheme is testified. Copyright © 2016. Published by Elsevier Ltd.

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

PubMed Central

Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

2013-01-01

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

Sliding mode control of electromagnetic tethered satellite formation

NASA Astrophysics Data System (ADS)

Hallaj, Mohammad Amin Alandi; Assadian, Nima

2016-08-01

This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

PubMed

Chi, Wen-Chun; Cheng, Ming-Yang

2014-03-01

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Suppression of the noise-induced effects in an electrostatic micro-plate using an adaptive back-stepping sliding mode control.

PubMed

Nwagoum Tuwa, Peguy Roussel; Woafo, P

2018-01-01

In this work, an adaptive backstepping sliding mode control approach is applied through the piezoelectric layer in order to control and to stabilize an electrostatic micro-plate. The mathematical model of the system by taking into account the small fluctuations in the gap considered as bounded noise is carried out. The accuracy of the proposed modal equation is proven using the method of lines. By using both approaches, the effects of noise are presented. It is found that they lead to pull-in instability as well as to random chaos. A suitable backstepping approach to improve the tracking performance is integrated to the adaptive sliding mode control in order to eliminate chattering phenomena and reinforce the robustness of the system in presence of uncertainties and external random disturbances. It is proved that all the variables of the closed-loop system are bounded and the system can follow the given reference signals as close as possible. Numerical simulations are provided to show the effectiveness of proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Finite-time containment control of perturbed multi-agent systems based on sliding-mode control

NASA Astrophysics Data System (ADS)

Yu, Di; Ji, Xiang Yang

2018-01-01

Aimed at faster convergence rate, this paper investigates finite-time containment control problem for second-order multi-agent systems with norm-bounded non-linear perturbation. When topology between the followers are strongly connected, the nonsingular fast terminal sliding-mode error is defined, corresponding discontinuous control protocol is designed and the appropriate value range of control parameter is obtained by applying finite-time stability analysis, so that the followers converge to and move along the desired trajectories within the convex hull formed by the leaders in finite time. Furthermore, on the basis of the sliding-mode error defined, the corresponding distributed continuous control protocols are investigated with fast exponential reaching law and double exponential reaching law, so as to make the followers move to the small neighbourhoods of their desired locations and keep within the dynamic convex hull formed by the leaders in finite time to achieve practical finite-time containment control. Meanwhile, we develop the faster control scheme according to comparison of the convergence rate of these two different reaching laws. Simulation examples are given to verify the correctness of theoretical results.

Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

NASA Astrophysics Data System (ADS)

Kim, Gi-Woo; Wang, K. W.

2009-08-01

In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems

NASA Astrophysics Data System (ADS)

Lin, Tsung-Chih

2010-12-01

In this paper, a novel direct adaptive interval type-2 fuzzy-neural tracking control equipped with sliding mode and Lyapunov synthesis approach is proposed to handle the training data corrupted by noise or rule uncertainties for nonlinear SISO nonlinear systems involving external disturbances. By employing adaptive fuzzy-neural control theory, the update laws will be derived for approximating the uncertain nonlinear dynamical system. In the meantime, the sliding mode control method and the Lyapunov stability criterion are incorporated into the adaptive fuzzy-neural control scheme such that the derived controller is robust with respect to unmodeled dynamics, external disturbance and approximation errors. In comparison with conventional methods, the advocated approach not only guarantees closed-loop stability but also the output tracking error of the overall system will converge to zero asymptotically without prior knowledge on the upper bound of the lumped uncertainty. Furthermore, chattering effect of the control input will be substantially reduced by the proposed technique. To illustrate the performance of the proposed method, finally simulation example will be given.

Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

NASA Astrophysics Data System (ADS)

Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

2018-02-01

Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

Resistive instabilities in tokamaks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rutherford, P.H.

1985-10-01

Low-m tearing modes constitute the dominant instability problem in present-day tokamaks. In this lecture, the stability criteria for representative current profiles with q(0)-values slightly less than unit are reviewed; ''sawtooth'' reconnection to q(0)-values just at, or slightly exceeding, unity is generally destabilizing to the m = 2, n = 1 and m = 3, n = 2 modes, and severely limits the range of stable profile shapes. Feedback stabilization of m greater than or equal to 2 modes by rf heating or current drive, applied locally at the magnetic islands, appears feasible; feedback by island current drive is much moremore » efficient, in terms of the radio-frequency power required, then feedback by island heating. Feedback stabilization of the m = 1 mode - although yielding particularly beneficial effects for resistive-tearing and high-beta stability by allowing q(0)-values substantially below unity - is more problematical, unless the m = 1 ideal-MHD mode can be made positively stable by strong triangular shaping of the central flux surfaces. Feedback techniques require a detectable, rotating MHD-like signal; the slowing of mode rotation - or the excitation of non-rotating modes - by an imperfectly conducting wall is also discussed.« less

INDIRECT INTELLIGENT SLIDING MODE CONTROL OF A SHAPE MEMORY ALLOY ACTUATED FLEXIBLE BEAM USING HYSTERETIC RECURRENT NEURAL NETWORKS.

PubMed

Hannen, Jennifer C; Crews, John H; Buckner, Gregory D

2012-08-01

This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller.

Sliding mode control for Mars entry based on extended state observer

NASA Astrophysics Data System (ADS)

Lu, Kunfeng; Xia, Yuanqing; Shen, Ganghui; Yu, Chunmei; Zhou, Liuyu; Zhang, Lijun

2017-11-01

This paper addresses high-precision Mars entry guidance and control approach via sliding mode control (SMC) and Extended State Observer (ESO). First, differential flatness (DF) approach is applied to the dynamic equations of the entry vehicle to represent the state variables more conveniently. Then, the presented SMC law can guarantee the property of finite-time convergence of tracking error, which requires no information on high uncertainties that are estimated by ESO, and the rigorous proof of tracking error convergence is given. Finally, Monte Carlo simulation results are presented to demonstrate the effectiveness of the suggested approach.

Sliding mode control for generalized robust synchronization of mismatched fractional order dynamical systems and its application to secure transmission of voice messages.

PubMed

Muthukumar, P; Balasubramaniam, P; Ratnavelu, K

2017-07-26

This paper proposes a generalized robust synchronization method for different dimensional fractional order dynamical systems with mismatched fractional derivatives in the presence of function uncertainty and external disturbance by a designing sliding mode controller. Based on the proposed theory of generalized robust synchronization criterion, a novel audio cryptosystem is proposed for sending or sharing voice messages secretly via insecure channel. Numerical examples are given to verify the potency of the proposed theories. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Advanced feedback control methods in EXTRAP T2R reversed field pinch

NASA Astrophysics Data System (ADS)

Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

2006-07-01

Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.

Mode Selection Rules for a Two-Delay System with Positive and Negative Feedback Loops

NASA Astrophysics Data System (ADS)

Takahashi, Kin'ya; Kobayashi, Taizo

2018-04-01

The mode selection rules for a two-delay system, which has negative feedback with a short delay time t1 and positive feedback with a long delay time t2, are studied numerically and theoretically. We find two types of mode selection rules depending on the strength of the negative feedback. When the strength of the negative feedback |α1| (α1 < 0) is sufficiently small compared with that of the positive feedback α2 (> 0), 2m + 1-th harmonic oscillation is well sustained in a neighborhood of t1/t2 = even/odd, i.e., relevant condition. In a neighborhood of the irrelevant condition given by t1/t2 = odd/even or t1/t2 = odd/odd, higher harmonic oscillations are observed. However, if |α1| is slightly less than α2, a different mode selection rule works, where the condition t1/t2 = odd/even is relevant and the conditions t1/t2 = odd/odd and t1/t2 = even/odd are irrelevant. These mode selection rules are different from the mode selection rule of the normal two-delay system with two positive feedback loops, where t1/t2 = odd/odd is relevant and the others are irrelevant. The two types of mode selection rules are induced by individually different mechanisms controlling the Hopf bifurcation, i.e., the Hopf bifurcation controlled by the "boosted bifurcation process" and by the "anomalous bifurcation process", which occur for |α1| below and above the threshold value αth, respectively.

Active Galactic Nucleus Feedback in an Isolated Elliptical Galaxy: The Effect of Strong Radiative Feedback in the Kinetic Mode

NASA Astrophysics Data System (ADS)

Gan, Zhaoming; Yuan, Feng; Ostriker, Jeremiah P.; Ciotti, Luca; Novak, Gregory S.

2014-07-01

Based on two-dimensional high-resolution hydrodynamic numerical simulation, we study the mechanical and radiative feedback effects from the central active galactic nucleus (AGN) on the cosmological evolution of an isolated elliptical galaxy. The inner boundary of the simulation domain is carefully chosen so that the fiducial Bondi radius is resolved and the accretion rate of the black hole is determined self-consistently. It is well known that when the accretion rates are high and low, the central AGNs will be in cold and hot accretion modes, which correspond to the radiative and kinetic feedback modes, respectively. The emitted spectrum from the hot accretion flows is harder than that from the cold accretion flows, which could result in a higher Compton temperature accompanied by a more efficient radiative heating, according to previous theoretical works. Such a difference of the Compton temperature between the two feedback modes, the focus of this study, has been neglected in previous works. Significant differences in the kinetic feedback mode are found as a result of the stronger Compton heating. More importantly, if we constrain models to correctly predict black hole growth and AGN duty cycle after cosmological evolution, we find that the favored model parameters are constrained: mechanical feedback efficiency diminishes with decreasing luminosity (the maximum efficiency being ~= 10-3.5), and X-ray Compton temperature increases with decreasing luminosity, although models with fixed mechanical efficiency and Compton temperature can be found that are satisfactory as well. We conclude that radiative feedback in the kinetic mode is much more important than previously thought.

A statistical overview of mass movement characteristics on the North American Atlantic outer continental margin

USGS Publications Warehouse

Booth, James S.; O'Leary, Dennis W.

1992-01-01

An analysis of 179 mass movements on the North American Atlantic continental slope and upper rise shows that slope failures have occurred throughout the geographic extent of the outer margin. Although the slope failures show no striking affinity for a particular depth as an origination level, there is a broad, primary mode centered at about 900 m. The resulting slides terminate at almost all depths and have a primary mode at 1100 m, but the slope/rise boundary (at 2200 m) also is an important mode. Slope failures have occurred at declivities ranging from 1° to 30° (typically, 4°); the resultant mass movement deposits vary in width from 0.2 to 50 km (typically, 1-2 km) and in length from 0.3 to 380 km (typically, 2–4 km), and they have been reported to be as thick as 650 m. On a numeric basis, mass movements are slightly more prevalent on open slopes than in other physiographic settings, and both translational and rotational failure surfaces are common. The typical mass movement is disintegrative in nature. Open slope slides tend to occur at lower slope angles and are larger than canyon slides. Further, large‐scale slides rather than small‐scale slides tend to originate on gentle slopes (≍ 3-4°). Rotational slope failures appear to have a slightly greater chance of occurring in canyons, but there is no analogous bias associated with translational failures. Similarly, disintegrative slides seem more likely to be associated with rotational slope failures than translational ones and are longer than their nondisintegrative counterparts. The occurrence of such a variety of mass movements at low declivities implies that a regional failure mechanism has prevailed. We suggest that earthquakes or, perhaps in some areas, gas hydrates are the most likely cause of the slope failures.

Drive-amplitude-modulation atomic force microscopy: From vacuum to liquids

PubMed Central

Jaafar, Miriam; Cuenca, Mariano; Melcher, John; Raman, Arvind

2012-01-01

Summary We introduce drive-amplitude-modulation atomic force microscopy as a dynamic mode with outstanding performance in all environments from vacuum to liquids. As with frequency modulation, the new mode follows a feedback scheme with two nested loops: The first keeps the cantilever oscillation amplitude constant by regulating the driving force, and the second uses the driving force as the feedback variable for topography. Additionally, a phase-locked loop can be used as a parallel feedback allowing separation of the conservative and nonconservative interactions. We describe the basis of this mode and present some examples of its performance in three different environments. Drive-amplutide modulation is a very stable, intuitive and easy to use mode that is free of the feedback instability associated with the noncontact-to-contact transition that occurs in the frequency-modulation mode. PMID:22563531

Mode switching in a multi-wavelength distributed feedback quantum cascade laser using an external micro-cavity

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sidler, Meinrad; Institute for Quantum Electronics, ETH Zurich, Wolfgang-Pauli-Strasse 16, 8093 Zurich; Rauter, Patrick

2014-02-03

We demonstrate a multi-wavelength distributed feedback (DFB) quantum cascade laser (QCL) operating in a lensless external micro-cavity and achieve switchable single-mode emission at three distinct wavelengths selected by the DFB grating, each with a side-mode suppression ratio larger than 30 dB. Discrete wavelength tuning is achieved by modulating the feedback experienced by each mode of the multi-wavelength DFB QCL, resulting from a variation of the external cavity length. This method also provides a post-fabrication control of the lasing modes to correct for fabrication inhomogeneities, in particular, related to the cleaved facets position.

A novel sliding mode guidance law without line-of-sight angular rate information accounting for autopilot lag

NASA Astrophysics Data System (ADS)

He, Shaoming; Wang, Jiang; Wang, Wei

2017-12-01

This paper proposes a new composite guidance law to intercept manoeuvring targets without line-of-sight (LOS) angular rate information in the presence of autopilot lag. The presented formulation is obtained via a combination of homogeneous theory and sliding mode control approach. Different from some existing observers, the proposed homogeneous observer can estimate the lumped uncertainty and the LOS angular rate in an integrated manner. To reject the mismatched lumped uncertainty in the integrated guidance and autopilot system, a sliding surface, which consists of the system states and the estimated states, is proposed and a robust guidance law is then synthesised. Stability analysis shows that the LOS angular rate can be stabilised in a small region around zero asymptotically and the upper bound can be lowered by appropriate parameter choice. Numerical simulations with some comparisons are carried out to demonstrate the superiority of the proposed method.

Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems.

PubMed

Ashtiani Haghighi, Donya; Mobayen, Saleh

2018-04-01

This paper proposes an adaptive super-twisting decoupled terminal sliding mode control technique for a class of fourth-order systems. The adaptive-tuning law eliminates the requirement of the knowledge about the upper bounds of external perturbations. Using the proposed control procedure, the state variables of cart-pole system are converged to decoupled terminal sliding surfaces and their equilibrium points in the finite time. Moreover, via the super-twisting algorithm, the chattering phenomenon is avoided without affecting the control performance. The numerical results demonstrate the high stabilization accuracy and lower performance indices values of the suggested method over the other ones. The simulation results on the cart-pole system as well as experimental validations demonstrate that the proposed control technique exhibits a reasonable performance in comparison with the other methods. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Nanomechanical modeling of interfaces of polyvinyl alcohol (PVA)/clay nanocomposite

NASA Astrophysics Data System (ADS)

Paliwal, Bhasker; Lawrimore, William B.; Chandler, Mei Q.; Horstemeyer, Mark F.

2017-05-01

We study interfacial debonding of several representative structures of polyvinyl alcohol (PVA)/pyrophillite-clay systems - both gallery-interface (polymer/clay interface in the interlayer region containing polymer between clay layers stacked parallel to each other) and matrix-interphase (polymer/clay interphase-region when individual clay layers are well separated and dispersed in the polymer matrix) - using molecular dynamics simulations, while explicitly accounting for shearing/sliding (i.e. Mode-II) deformation mode. Ten nanocomposite geometries (five 2-D periodic structures for tension and five 1-D periodic structures for shearing) were constructed to quantify the structure-property relations by varying the number density of polymer chains, length of polymer chains and model dimensions related to the interface deformation. The results were subsequently mapped into a cohesive traction-separation law, including evaluation of peak traction and work of separation that are used to characterise the interface load transfer for larger length scale micromechanical models. Results suggest that under a crack nucleation opening mode (i.e. Mode-I), the matrix-interphase exhibits noticeably greater strength and a greater work of separation compared to the gallery-interface; however, they were similar under the shearing/sliding mode of deformation. When compared to shearing/sliding, the tensile peak opening mode stresses were considerably greater but the displacement at the peak stress, the displacement at the final failure and the work of separation were considerably lower. Results also suggest that PVA/clay nanocomposites with higher degree of exfoliation compared with nanocomposites with higher clay-intercalation can potentially display higher strength under tension-dominated loading for a given clay volume fraction.

DPS Discovery Slide Sets for the Introductory Astronomy Instructor

NASA Astrophysics Data System (ADS)

Meinke, Bonnie K.; Jackson, Brian; Buxner, Sanlyn; Horst, Sarah; Brain, David; Schneider, Nicholas M.

2016-10-01

The DPS actively supports the E/PO needs of the society's membership, including those at the front of the college classroom. The DPS Discovery Slide Sets are an opportunity for instructors to put the latest planetary science into their lectures and for scientists to get their exciting results to college students.In an effort to keep the astronomy classroom apprised of the fast moving field of planetary science, the Division for Planetary Sciences (DPS) has developed "DPS Discoveries", which are 3-slide presentations that can be incorporated into college lectures. The slide sets are targeted at the Introductory Astronomy undergraduate level. Each slide set consists of three slides which cover a description of the discovery, a discussion of the underlying science, and a presentation of the big picture implications of the discovery, with a fourth slide that includes links to associated press releases, images, and primary sources. Topics span all subdisciplines of planetary science, and 26 sets are available in Farsi and Spanish. We intend for these slide sets to help Astronomy 101 instructors include new developments (not yet in their textbooks) into the broader context of the course. If you need supplemental material for your classroom, please checkout the archived collection: http://dps.aas.org/education/dpsdiscMore slide sets are now in development and will be available soon! In the meantime, we seek input, feedback, and help from the DPS membership to add fresh slide sets to the series and to connect the college classroom to YOUR science. It's easy to get involved - we'll provide a content template, tips and tricks for a great slide set, and pedagogy reviews. Talk to a coauthor to find out how you can disseminate your science or get involved in E/PO with your contributions.

77 FR 19069 - Airworthiness Directives; Goodrich Evacuation Systems Approved Under Technical Standard Order...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-30

... seal and allowed the pressure in certain slides/ rafts to fall below the minimum raft mode pressure for the unit. We are issuing this AD to prevent loss of pressure in the escape slides/rafts after an emergency evacuation, which could result in inadequate buoyancy to support the raft's passenger capacity...

High frequency optoelectronic oscillators based on the optical feedback of semiconductor mode-locked laser diodes.

PubMed

Haji, Mohsin; Hou, Lianping; Kelly, Anthony E; Akbar, Jehan; Marsh, John H; Arnold, John M; Ironside, Charles N

2012-01-30

Optical self seeding feedback techniques can be used to improve the noise characteristics of passively mode-locked laser diodes. External cavities such as fiber optic cables can increase the memory of the phase and subsequently improve the timing jitter. In this work, an improved optical feedback architecture is proposed using an optical fiber loop delay as a cavity extension of the mode-locked laser. We investigate the effect of the noise reduction as a function of the loop length and feedback power. The well known composite cavity technique is also implemented for suppressing supermode noise artifacts presented due to harmonic mode locking effects. Using this method, we achieve a record low radio frequency linewidth of 192 Hz for any high frequency (>1 GHz) passively mode-locked laser to date (to the best of the authors' knowledge), making it promising for the development of high frequency optoelectronic oscillators.

Stick-slip nanofriction in cold-ion traps

NASA Astrophysics Data System (ADS)

Mandelli, Davide; Vanossi, Andrea; Tosatti, Erio

2013-03-01

Trapped cold ions are known to form linear or planar zigzag chains, helices or clusters depending on trapping conditions. They may be forced to slide over a laser induced corrugated potential, a mimick of sliding friction. We present MD simulations of an incommensurate 101 ions chain sliding subject to an external electric field. As expected with increasing corrugation, we observe the transition from a smooth-sliding, highly lubric regime to a strongly dissipative stick-slip regime. Owing to inhomogeneity the dynamics shows features reminiscent of macroscopic frictional behaviors. While the chain extremities are pinned, the incommensurate central part is initially free to slide. The onset of global sliding is preceded by precursor events consisting of partial slips of chain portions further from the center. We also look for frictional anomalies expected for the chain sliding across the linear-zigzag structural phase transition. Although the chain is too short for a proper critical behavior, the sliding friction displays a frank rise near the transition, due to opening of a new dissipative channel via excitations of transverse modes. Research partly sponsored by Sinergia Project CRSII2 136287/1.

Active galactic nucleus feedback in an isolated elliptical galaxy: The effect of strong radiative feedback in the kinetic mode

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gan, Zhaoming; Yuan, Feng; Ostriker, Jeremiah P.

2014-07-10

Based on two-dimensional high-resolution hydrodynamic numerical simulation, we study the mechanical and radiative feedback effects from the central active galactic nucleus (AGN) on the cosmological evolution of an isolated elliptical galaxy. The inner boundary of the simulation domain is carefully chosen so that the fiducial Bondi radius is resolved and the accretion rate of the black hole is determined self-consistently. It is well known that when the accretion rates are high and low, the central AGNs will be in cold and hot accretion modes, which correspond to the radiative and kinetic feedback modes, respectively. The emitted spectrum from the hotmore » accretion flows is harder than that from the cold accretion flows, which could result in a higher Compton temperature accompanied by a more efficient radiative heating, according to previous theoretical works. Such a difference of the Compton temperature between the two feedback modes, the focus of this study, has been neglected in previous works. Significant differences in the kinetic feedback mode are found as a result of the stronger Compton heating. More importantly, if we constrain models to correctly predict black hole growth and AGN duty cycle after cosmological evolution, we find that the favored model parameters are constrained: mechanical feedback efficiency diminishes with decreasing luminosity (the maximum efficiency being ≅ 10{sup –3.5}), and X-ray Compton temperature increases with decreasing luminosity, although models with fixed mechanical efficiency and Compton temperature can be found that are satisfactory as well. We conclude that radiative feedback in the kinetic mode is much more important than previously thought.« less

A Natural Language Intelligent Tutoring System for Training Pathologists - Implementation and Evaluation

PubMed Central

El Saadawi, Gilan M.; Tseytlin, Eugene; Legowski, Elizabeth; Jukic, Drazen; Castine, Melissa; Fine, Jeffrey; Gormley, Robert; Crowley, Rebecca S.

2009-01-01

Introduction We developed and evaluated a Natural Language Interface (NLI) for an Intelligent Tutoring System (ITS) in Diagnostic Pathology. The system teaches residents to examine pathologic slides and write accurate pathology reports while providing immediate feedback on errors they make in their slide review and diagnostic reports. Residents can ask for help at any point in the case, and will receive context-specific feedback. Research Questions We evaluated (1) the performance of our natural language system, (2) the effect of the system on learning (3) the effect of feedback timing on learning gains and (4) the effect of ReportTutor on performance to self-assessment correlations. Methods The study uses a crossover 2×2 factorial design. We recruited 20 subjects from 4 academic programs. Subjects were randomly assigned to one of the four conditions - two conditions for the immediate interface, and two for the delayed interface. An expert dermatopathologist created a reference standard and 2 board certified AP/CP pathology fellows manually coded the residents' assessment reports. Subjects were given the opportunity to self grade their performance and we used a survey to determine student response to both interfaces. Results Our results show a highly significant improvement in report writing after one tutoring session with 4-fold increase in the learning gains with both interfaces but no effect of feedback timing on performance gains. Residents who used the immediate feedback interface first experienced a feature learning gain that is correlated with the number of cases they viewed. There was no correlation between performance and self-assessment in either condition. PMID:17934789

A natural language intelligent tutoring system for training pathologists: implementation and evaluation.

PubMed

El Saadawi, Gilan M; Tseytlin, Eugene; Legowski, Elizabeth; Jukic, Drazen; Castine, Melissa; Fine, Jeffrey; Gormley, Robert; Crowley, Rebecca S

2008-12-01

We developed and evaluated a Natural Language Interface (NLI) for an Intelligent Tutoring System (ITS) in Diagnostic Pathology. The system teaches residents to examine pathologic slides and write accurate pathology reports while providing immediate feedback on errors they make in their slide review and diagnostic reports. Residents can ask for help at any point in the case, and will receive context-specific feedback. We evaluated (1) the performance of our natural language system, (2) the effect of the system on learning (3) the effect of feedback timing on learning gains and (4) the effect of ReportTutor on performance to self-assessment correlations. The study uses a crossover 2 x 2 factorial design. We recruited 20 subjects from 4 academic programs. Subjects were randomly assigned to one of the four conditions--two conditions for the immediate interface, and two for the delayed interface. An expert dermatopathologist created a reference standard and 2 board certified AP/CP pathology fellows manually coded the residents' assessment reports. Subjects were given the opportunity to self grade their performance and we used a survey to determine student response to both interfaces. Our results show a highly significant improvement in report writing after one tutoring session with 4-fold increase in the learning gains with both interfaces but no effect of feedback timing on performance gains. Residents who used the immediate feedback interface first experienced a feature learning gain that is correlated with the number of cases they viewed. There was no correlation between performance and self-assessment in either condition.

Sensorless sliding mode observer for a five-phase permanent magnet synchronous motor drive.

PubMed

Hosseyni, Anissa; Trabelsi, Ramzi; Mimouni, Med Faouzi; Iqbal, Atif; Alammari, Rashid

2015-09-01

This paper deals with the sensorless vector controlled five-phase permanent magnet synchronous motor (PMSM) drive based on a sliding mode observer (SMO). The observer is designed considering the back electromotive force (EMF) of five-phase permanent magnet synchronous motor. The SMO structure and design are illustrated. Stability of the proposed observer is demonstrated using Lyapunov stability criteria. The proposed strategy is asymptotically stable in the context of Lyapunov theory. Simulated results on a five-phase PMSM drive are displayed to validate the feasibility and the effectiveness of the proposed control strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Improved Re-Configurable Sliding Mode Controller for Reusable Launch Vehicle of Second Generation Addressing Aerodynamic Surface Failures and Thrust Deficiencies

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.

2002-01-01

In this report we present a time-varying sliding mode control (TV-SMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC is developed and tuned up for the X-33 sub-orbital technology demonstration vehicle in launch and re-entry modes. A variety of nominal, dispersion and failure scenarios have tested via high fidelity 6DOF simulations using MAVERIC/SLIM simulation software.

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers

PubMed Central

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-01-01

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios. PMID:28398255

Robust partial integrated guidance and control for missiles via extended state observer.

PubMed

Wang, Qing; Ran, Maopeng; Dong, Chaoyang

2016-11-01

A novel extended state observer (ESO) based control is proposed for a class of nonlinear systems subject to multiple uncertainties, and then applied to partial integrated guidance and control (PIGC) design for a missile. The proposed control strategy incorporates both an ESO and an adaptive sliding mode control law. The multiple uncertainties are treated as an extended state of the plant, and then estimate them using the ESO and compensate for them in the control action, in real time. Based on the output of the ESO, the resulting adaptive sliding mode control law is inherently continuous and differentiable. Strict proof is given to show that the estimation error of the ESO can be arbitrarily small in a finite time. In addition, the adaptive sliding mode control law can achieve finite time convergence to a neighborhood of the origin, and the accurate expression of the convergent region is given. Finally, simulations are conducted on the planar missile-target engagement geometry. The effectiveness of the proposed control strategy in enhanced interception performance and improved robustness against multiple uncertainties are demonstrated. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers.

PubMed

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-04-11

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios.

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

PubMed

Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

2017-01-01

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

Numerical simulation of failure behavior of granular debris flows based on flume model tests.

PubMed

Zhou, Jian; Li, Ye-xun; Jia, Min-cai; Li, Cui-na

2013-01-01

In this study, the failure behaviors of debris flows were studied by flume model tests with artificial rainfall and numerical simulations (PFC(3D)). Model tests revealed that grain sizes distribution had profound effects on failure mode, and the failure in slope of medium sand started with cracks at crest and took the form of retrogressive toe sliding failure. With the increase of fine particles in soil, the failure mode of the slopes changed to fluidized flow. The discrete element method PFC(3D) can overcome the hypothesis of the traditional continuous medium mechanic and consider the simple characteristics of particle. Thus, a numerical simulations model considering liquid-solid coupled method has been developed to simulate the debris flow. Comparing the experimental results, the numerical simulation result indicated that the failure mode of the failure of medium sand slope was retrogressive toe sliding, and the failure of fine sand slope was fluidized sliding. The simulation result is consistent with the model test and theoretical analysis, and grain sizes distribution caused different failure behavior of granular debris flows. This research should be a guide to explore the theory of debris flow and to improve the prevention and reduction of debris flow.

Continuous-Wave Single-Frequency Operation of Fabry-Perot Laser Diodes by Self-Injection Phase Locking Using Feedback from a Fiber Bragg Grating

NASA Technical Reports Server (NTRS)

Duerksen, Gary L.; Krainak, Michael A.

1998-01-01

Single-frequency operation of uncoated Fabry-Perot laser diodes is demonstrated by phase- locking the laser oscillations through self-injection seeding with feedback from a fiber Bragg grating. By precisely tuning the laser temperature so that an axial-mode coincides with the short-wavelength band edge of the grating, the phase of the feedback is made conjugate to that of the axial mode, locking the phase of the laser oscillations to that mode.

Characterization of Instructor and Student Use of Ubiquitous Presenter, a Presentation System Enabling Spontaneity and Digital Archiving

NASA Astrophysics Data System (ADS)

Price, Edward; Malani, Roshni; Simon, Beth

2007-01-01

Ubiquitous Presenter (UP) is a digital presentation system that allows an instructor with a Tablet PC to spontaneously modify prepared slides, while automatically archiving the inked slides on the web. For two introductory physics classes, we examine the types of slides instructors prepare and the ways in which they add ink to the slides. Modes of usage include: using ink to explicitly link multiple representations; making prepared figures dynamic by animating them with ink; and preparing slides with sparse text or figures, then adding extensive annotations during class. In addition, through an analysis of surveys and of web server logs, we examine student reaction to the system, as well as how often and in what ways students' utilize archived material. In general, students find the system valuable and frequently review the presentations online.

Wall Area of Influence and Growing Wall Heat Transfer due to Sliding Bubbles in Subcooled Boiling Flow

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yoo, Junsoo; Estrada-Perez, Carlos E.; Hassan, Yassin A.

A variety of dynamical features of sliding bubbles and their impact on wall heat transfer were observed at subcooled flow boiling conditions in a vertical square test channel. Among the wide range of parameters observed, we particularly focus in this paper on (i) the sliding bubbles’ effect on wall heat transfer (supplemantry discussion to the authors’ previous work in Yoo et al. (2016a,b)) and (ii) the wall area influenced by sliding bubbles in subcooled boiling flow. At first, this study reveals that the degree of wall heat transfer improvement due to sliding bubbles depended less on the wall superheat conditionmore » as the mass flux increased. Also, the sliding bubble trajectory was found to be one of the critical factors in order to properly describe the wall heat transfer associated with sliding bubbles. In particular, the wall area influenced by sliding bubbles depended strongly on both sliding bubble trajectory and sliding bubble size; the sliding bubble trajectory was also observed to be closely related to the sliding bubble size. Importantly, these results indicate the limitation of current approach in CFD analyses especially for the wall area of bubble influence. In addition, the analyses on the temporal fraction of bubbles’ residence (FR) along the heated wall show that the sliding bubbles typically travel through narrow path with high frequency while the opposite was observed downstream. That is, both FR and sliding bubble trajectory depended substantially on the distance from nucleation site, which is expected to be similar for the quenching heat transfer mode induced by sliding bubbles.« less

On wave-CISK and the evaporation-wind feedback for the Madden-Julian oscillation

NASA Technical Reports Server (NTRS)

Kirtman, B.; Vernekar, A.

1993-01-01

The combined effects of Kelvin wave-CISK and the evaporation-wind (E-W) feedback are proposed as a possible mechanism for the Madden-Julian oscillation. A very simple single vertical mode model has been employed to examine the effects of both these processes on moist Kelvin waves. The effects of wave-induced moisture convergence is parameterized by reducing the moist static stability, and CISK occurs when the moist static stability becomes negative. The E-W feedback in the presence of mean easterlies leads to unstable Kelvin modes. The presence of mean westerlies leads to decaying Kelvin modes. When CISK and the E-W feedback work in concert, an unstable Kelvin mode develops that has phase speeds of propagation between 5 m/s and 10 m/s for a large range of parameter values. On the other hand, the E-W feedback mechanism alone, in the case when CISK is not operating, produces the phase speeds of the observed Madden-Julian oscillation for only a very limited range of parameter values.

Dual-cavity mode converter for a fundamental mode output in an over-moded relativistic backward-wave oscillator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Jiawei; Huang, Wenhua; Science and Technology on High Power Microwave Laboratory, Northwest Institute of Nuclear Technology, Xi'an 710024

2015-03-16

A dual-cavity TM{sub 02}–TM{sub 01} mode converter is designed for a dual-mode operation over-moded relativistic backward-wave oscillator. With the converter, the fundamental mode output is achieved. Particle-in-cell simulation shows that the efficiency of beam-wave conversion was over 46% and a pureTM{sub 01} mode output was obtained. Effects of end reflection provided by the mode converter were studied. Adequate TM{sub 01} mode feedback provided by the converter enhances conversion efficiency. The distance between the mode converter and extraction cavity critically affect the generation of microwaves depending on the reflection phase of TM{sub 01} mode feedback.

On fully three-dimensional resistive wall mode and feedback stabilization computationsa)

NASA Astrophysics Data System (ADS)

Strumberger, E.; Merkel, P.; Sempf, M.; Günter, S.

2008-05-01

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes. In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Köppendörfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].

On fully three-dimensional resistive wall mode and feedback stabilization computations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Strumberger, E.; Merkel, P.; Sempf, M.

2008-05-15

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes.more » In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Koeppendoerfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].« less

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Oscillatory mode transition for supersonic open cavity flows

NASA Astrophysics Data System (ADS)

Kumar, Mayank; Vaidyanathan, Aravind

2018-02-01

The transition in the primary oscillatory mode in an open cavity has been experimentally investigated and the associated characteristics in a Mach 1.71 flow has been analyzed. The length-to-depth (L/D) ratios of the rectangular cavities are varied from 1.67 to 3.33. Unsteady pressure measurement and flow visualization are employed to understand the transitional flow physics. Flow visualization revealed the change in oscillation pattern from longitudinal mode to transverse mode and is also characterized by the presence of two bow shocks at the trailing edge instead of one. The transition is found to occur between L/D 1.67 and 2, marked by a change in the feedback mechanism, resulting in a shift from the vortex circulation driven transverse feedback mode to the oscillating shear layer driven longitudinal feedback mode. Cavities oscillating in the transition mode exhibit multiple tones of comparable strength. Correlation analysis indicated the shift in the feedback mechanism. Wavelet analysis revealed the temporal behaviour of tones during transition. Tone switching is observed in deeper cavities and is attributed to the occurrence of two bow shocks as evident from the temporo-spectral characteristics of transition that affects the shear layer modal shape.

Hand ultrasound: a high-fidelity simulation of lung sliding.

PubMed

Shokoohi, Hamid; Boniface, Keith

2012-09-01

Simulation training has been effectively used to integrate didactic knowledge and technical skills in emergency and critical care medicine. In this article, we introduce a novel model of simulating lung ultrasound and the features of lung sliding and pneumothorax by performing a hand ultrasound. The simulation model involves scanning the palmar aspect of the hand to create normal lung sliding in varying modes of scanning and to mimic ultrasound features of pneumothorax, including "stratosphere/barcode sign" and "lung point." The simple, reproducible, and readily available simulation model we describe demonstrates a high-fidelity simulation surrogate that can be used to rapidly illustrate the signs of normal and abnormal lung sliding at the bedside. © 2012 by the Society for Academic Emergency Medicine.

Introduction to IdentiFINDERs

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rees, Brian G.

These are slides from a presentation. The identiFINDER provides information on radiation levels. It can automatically identify isotopes in its library. It can save spectra for transfer to a computer, and has a 4-8 hour battery life. The following is covered: an overview, operating modes, getting started, finder mode, search, identification mode, dose & rate, warning & alarm, options (ultra LGH), options (identifinder2), and general procedure.

Research of the master-slave robot surgical system with the function of force feedback.

PubMed

Shi, Yunyong; Zhou, Chaozheng; Xie, Le; Chen, Yongjun; Jiang, Jun; Zhang, Zhenfeng; Deng, Ze

2017-12-01

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation. Copyright © 2017 John Wiley & Sons, Ltd.

Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Zhu, J. Jim; Daniels, Dan; Jackson, Scott (Technical Monitor)

2002-01-01

In this paper we present a time-varying sliding mode control (TVSMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC ascent and descent designs are currently being tested with high fidelity, 6-DOF dispersion simulations. The test results will be presented in the final version of this paper.

Adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finite-time observer.

PubMed

Guo, Zongyi; Chang, Jing; Guo, Jianguo; Zhou, Jun

2018-06-01

This paper focuses on the adaptive twisting sliding mode control for the Hypersonic Reentry Vehicles (HRVs) attitude tracking issue. The HRV attitude tracking model is transformed into the error dynamics in matched structure, whereas an unmeasurable state is redefined by lumping the existing unmatched disturbance with the angular rate. Hence, an adaptive finite-time observer is used to estimate the unknown state. Then, an adaptive twisting algorithm is proposed for systems subject to disturbances with unknown bounds. The stability of the proposed observer-based adaptive twisting approach is guaranteed, and the case of noisy measurement is analyzed. Also, the developed control law avoids the aggressive chattering phenomenon of the existing adaptive twisting approaches because the adaptive gains decrease close to the disturbance once the trajectories reach the sliding surface. Finally, numerical simulations on the attitude control of the HRV are conducted to verify the effectiveness and benefit of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Towards identifying the dynamics of sliding by acoustic emission and vibration

NASA Astrophysics Data System (ADS)

Korchuganov, M. A.; Filippov, A. V.; Tarasov, S. Yu.; Podgornyh, O. A.; Shamarin, N. N.; Filippova, E. O.

2016-11-01

The results of experiments with high load and sliding speed sliding conditions on tribologically mated pairs such as steel 1045/steel 1045 (test 1), steel 1045/basalt (test 2) and Hadfield steel/basalt (test 3) have been carried out in order to identify their response in terms of the acoustic emission and vibration signals. The steel to rock and rock to steel transfer has been revealed by examining the worn surfaces of both steel and rock samples with the use of laser scanning microscopy. The AE signal characteristics have been determined for the tribological pairs studied. The dynamics of sliding has been evaluated by measuring the vibration accelerations. Relationship between wear mode and either acoustic emission signal or vibration signal has been established. The minimal vibration oscillations amplitude and acoustic emission signal energy have been found out in sliding Hadfield steel/basalt pair.

Experimental Study of Flexible Plate Vibration Control by Using Two-Loop Sliding Mode Control Strategy

NASA Astrophysics Data System (ADS)

Yang, Jingyu; Lin, Jiahui; Liu, Yuejun; Yang, Kang; Zhou, Lanwei; Chen, Guoping

2017-08-01

It is well known that intelligent control theory has been used in many research fields, novel modeling method (DROMM) is used for flexible rectangular active vibration control, and then the validity of new model is confirmed by comparing finite element model with new model. In this paper, taking advantage of the dynamics of flexible rectangular plate, a two-loop sliding mode (TSM) MIMO approach is introduced for designing multiple-input multiple-output continuous vibration control system, which can overcome uncertainties, disturbances or unstable dynamics. An illustrative example is given in order to show the feasibility of the method. Numerical simulations and experiment confirm the effectiveness of the proposed TSM MIMO controller.

A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

NASA Astrophysics Data System (ADS)

Chen, Yuhang; Ji, Yunfeng; Guo, Konghui

2014-12-01

In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.

Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

NASA Astrophysics Data System (ADS)

Hajipour, Ahmad; Tavakoli, Hamidreza

2017-12-01

In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

Sliding mode control of direct coupled interleaved boost converter for fuel cell

NASA Astrophysics Data System (ADS)

Wang, W. Y.; Ding, Y. H.; Ke, X.; Ma, X.

2017-12-01

A three phase direct coupled interleaved boost converter (TP-DIBC) was recommended in this paper. This converter has a small unbalance current sharing among the branches of TP-DIBC. An adaptive control law sliding mode control (SMC) is designed for the TP-DIBC. The aim is to 1) reduce ripple output voltage, inductor current and regulate output voltage tightly 2) The total current carried by direct coupled interleaved boost converter (DIBC) must be equally shared between different parallel branches. The efficacy and robustness of the proposed TP-DIBC and adaptive SMC is confirmed via computer simulations using Matlab SimPower System Tools. The simulation result is in line with the expectation.

Modeling and simulation of viscoelastic biological particles' 3D manipulation using atomic force microscopy

NASA Astrophysics Data System (ADS)

Korayem, M. H.; Habibi Sooha, Y.; Rastegar, Z.

2018-05-01

Manipulation of the biological particles by atomic force microscopy is used to transfer these particles inside body's cells, diagnosis and destruction of the cancer cells and drug delivery to damaged cells. According to the impossibility of simultaneous observation of this process, the importance of modeling and simulation can be realized. The contact of the tip with biological particle is important during manipulation, therefore, the first step of the modeling is choosing appropriate contact model. Most of the studies about contact between atomic force microscopy and biological particles, consider the biological particle as an elastic material. This is not an appropriate assumption because biological cells are basically soft and this assumption ignores loading history. In this paper, elastic and viscoelastic JKR theories were used in modeling and simulation of the 3D manipulation for three modes of tip-particle sliding, particle-substrate sliding and particle-substrate rolling. Results showed that critical force and time in motion modes (sliding and rolling) for two elastic and viscoelastic states are very close but these magnitudes were lower in the viscoelastic state. Then, three friction models, Coulomb, LuGre and HK, were used for tip-particle sliding mode in the first phase of manipulation to make results closer to reality. In both Coulomb and LuGre models, critical force and time are very close for elastic and viscoelastic states but in general critical force and time prediction of HK model was higher than LuGre and the LuGre model itself had higher prediction than Coulomb.

Supermassive black holes and their feedback effects in the IllustrisTNG simulation

NASA Astrophysics Data System (ADS)

Weinberger, Rainer; Springel, Volker; Pakmor, Rüdiger; Nelson, Dylan; Genel, Shy; Pillepich, Annalisa; Vogelsberger, Mark; Marinacci, Federico; Naiman, Jill; Torrey, Paul; Hernquist, Lars

2018-06-01

We study the population of supermassive black holes (SMBHs) and their effects on massive central galaxies in the IllustrisTNG cosmological hydrodynamical simulations of galaxy formation. The employed model for SMBH growth and feedback assumes a two-mode scenario in which the feedback from active galactic nuclei occurs through a kinetic, comparatively efficient mode at low accretion rates relative to the Eddington limit, and in the form of a thermal, less efficient mode at high accretion rates. We show that the quenching of massive central galaxies happens coincidently with kinetic-mode feedback, consistent with the notion that active supermassive black cause the low specific star formation rates observed in massive galaxies. However, major galaxy mergers are not responsible for initiating most of the quenching events in our model. Up to black hole masses of about 108.5 M⊙, the dominant growth channel for SMBHs is in the thermal mode. Higher mass black holes stay mainly in the kinetic mode and gas accretion is self-regulated via their feedback, which causes their Eddington ratios to drop, with SMBH mergers becoming the main channel for residual mass growth. As a consequence, the quasar luminosity function is dominated by rapidly accreting, moderately massive black holes in the thermal mode. We show that the associated growth history of SMBHs produces a low-redshift quasar luminosity function and a redshift zero black hole mass - stellar bulge mass relation in good agreement with observations, whereas the simulation tends to over-predict the high-redshift quasar luminosity function.

Single-mode, narrow-linewidth external cavity quantum cascade laser through optical feedback from a partial-reflector.

PubMed

Cendejas, Richard A; Phillips, Mark C; Myers, Tanya L; Taubman, Matthew S

2010-12-06

An external-cavity (EC) quantum cascade (QC) laser using optical feedback from a partial-reflector is reported. With this configuration, the otherwise multi-mode emission of a Fabry-Perot QC laser was made single-mode with optical output powers exceeding 40 mW. A mode-hop free tuning range of 2.46 cm(-1) was achieved by synchronously tuning the EC length and QC laser current. The linewidth of the partial-reflector EC-QC laser was measured for integration times from 100 μs to 4 seconds, and compared to a distributed feedback QC laser. Linewidths as small as 480 kHz were recorded for the EC-QC laser.

A Current-Mode Common-Mode Feedback Circuit (CMFB) with Rail-to-Rail Operation

NASA Astrophysics Data System (ADS)

Suadet, Apirak; Kasemsuwan, Varakorn

2011-03-01

This paper presents a current-mode common-mode feedback (CMFB) circuit with rail-to-rail operation. The CMFB is a stand-alone circuit, which can be connected to any low voltage transconductor without changing or upsetting the existing circuit. The proposed CMFB employs current mirrors, operating as common-mode detector and current amplifier to enhance the loop gain of the CMFB. The circuit employs positive feedback to enhance the output impedance and gain. The circuit has been designed using a 0.18 μm CMOS technology under 1V supply and analyzed using HSPICE with BSIM3V3 device models. A pseudo-differential amplifier using two common sources and the proposed CMFB shows rail to rail output swing (± 0.7 V) with low common-mode gain (-36 dB) and power dissipation of 390 μW.

Vibration control of a ship engine system using high-load magnetorheological mounts associated with a new indirect fuzzy sliding mode controller

NASA Astrophysics Data System (ADS)

Phu, Do Xuan; Choi, Seung-Bok

2015-02-01

In this work, a new high-load magnetorheological (MR) fluid mount system is devised and applied to control vibration in a ship engine. In the investigation of vibration-control performance, a new modified indirect fuzzy sliding mode controller is formulated and realized. The design of the proposed MR mount is based on the flow mode of MR fluid, and it includes two separated coils for generating a magnetic field. An optimization process is carried out to achieve maximal damping force under certain design constraints, such as the allowable height of the mount. As an actuating smart fluid, a new plate-like iron-particle-based MR fluid is used, instead of the conventional spherical iron-particle-based MR fluid. After evaluating the field-dependent yield stress of the MR fluid, the field-dependent damping force required to control unwanted vibration in the ship engine is determined. Subsequently, an appropriate-sized MR mount is manufactured and its damping characteristics are evaluated. After confirming the sufficient damping force level of the manufactured MR mount, a medium-sized ship engine mount system consisting of eight MR mounts is established, and its dynamic governing equations are derived. A new modified indirect fuzzy sliding mode controller is then formulated and applied to the engine mount system. The displacement and velocity responses show that the unwanted vibrations of the ship engine system can be effectively controlled in both the axial and radial directions by applying the proposed control methodology.

DNA translocation by human uracil DNA glycosylase: the case of single-stranded DNA and clustered uracils.

PubMed

Schonhoft, Joseph D; Stivers, James T

2013-04-16

Human uracil DNA glycosylase (hUNG) plays a central role in DNA repair and programmed mutagenesis of Ig genes, requiring it to act on sparsely or densely spaced uracil bases located in a variety of contexts, including U/A and U/G base pairs, and potentially uracils within single-stranded DNA (ssDNA). An interesting question is whether the facilitated search mode of hUNG, which includes both DNA sliding and hopping, changes in these different contexts. Here we find that hUNG uses an enhanced local search mode when it acts on uracils in ssDNA, and also, in a context where uracils are densely clustered in duplex DNA. In the context of ssDNA, hUNG performs an enhanced local search by sliding with a mean sliding length larger than that of double-stranded DNA (dsDNA). In the context of duplex DNA, insertion of high-affinity abasic product sites between two uracil lesions serves to significantly extend the apparent sliding length on dsDNA from 4 to 20 bp and, in some cases, leads to directionally biased 3' → 5' sliding. The presence of intervening abasic product sites mimics the situation where hUNG acts iteratively on densely spaced uracils. The findings suggest that intervening product sites serve to increase the amount of time the enzyme remains associated with DNA as compared to nonspecific DNA, which in turn increases the likelihood of sliding as opposed to falling off the DNA. These findings illustrate how the search mechanism of hUNG is not predetermined but, instead, depends on the context in which the uracils are located.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

NASA Astrophysics Data System (ADS)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

A new adjustable gains for second order sliding mode control of saturated DFIG-based wind turbine

NASA Astrophysics Data System (ADS)

Bounadja, E.; Djahbar, A.; Taleb, R.; Boudjema, Z.

2017-02-01

The control of Doubly-Fed induction generator (DFIG), used in wind energy conversion, has been given a great deal of interest. Frequently, this control has been dealt with ignoring the magnetic saturation effect in the DFIG model. The aim of the present work is twofold: firstly, the magnetic saturation effect is accounted in the control design model; secondly, a new second order sliding mode control scheme using adjustable-gains (AG-SOSMC) is proposed to control the DFIG via its rotor side converter. This scheme allows the independent control of the generated active and reactive power. Conventionally, the second order sliding mode control (SOSMC) applied to the DFIG, utilize the super-twisting algorithm with fixed gains. In the proposed AG-SOSMC, a simple means by which the controller can adjust its behavior is used. For that, a linear function is used to represent the variation in gain as a function of the absolute value of the discrepancy between the reference rotor current and its measured value. The transient DFIG speed response using the aforementioned characteristic is compared with the one determined by using the conventional SOSMC controller with fixed gains. Simulation results show, accurate dynamic performances, quicker transient response and more accurate control are achieved for different operating conditions.

An Adaptive B-Spline Neural Network and Its Application in Terminal Sliding Mode Control for a Mobile Satcom Antenna Inertially Stabilized Platform.

PubMed

Zhang, Xiaolei; Zhao, Yan; Guo, Kai; Li, Gaoliang; Deng, Nianmao

2017-04-28

The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong adaptability. The significant features of terminal sliding mode control method are robustness and finite time convergence, but the robustness is related to the large switching control gain which is determined by uncertain issues and can lead to chattering phenomena. Neural networks can reduce the chattering and approximate nonlinear issues. In this work, a novel B-spline curve-based B-spline neural network (BSNN) is developed. The improved BSNN has the capability of shape changing and self-adaption. In addition, the output of the proposed BSNN is applied to approximate the nonlinear function in the system. The results of simulations and experiments are also compared with those of PID method, non-singularity fast terminal sliding mode (NFTSM) control and radial basis function (RBF) neural network-based NFTSM. It is shown that the proposed method has the best performance, with reliable control precision.

Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

PubMed

Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

2010-07-01

An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.

Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

PubMed

Lin, Faa-Jeng; Lee, Shih-Yang; Chou, Po-Huan

2012-12-01

The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours. The steady-state response of the control system can be improved effectively because of the addition of the nonsingularity in the NTSMC. Moreover, to relax the requirements of the bounds and discard the switching function in NTSMC, an INTSMC system using a multi-input-multioutput (MIMO) ENN estimator is proposed to improve the control performance and robustness of the PFNS. The ENN estimator is proposed to estimate the hysteresis phenomenon and lumped uncertainty, including the system parameters and external disturbance of the PFNS online. Furthermore, the adaptive learning algorithms for the training of the parameters of the ENN online are derived using the Lyapunov stability theorem. In addition, two robust compensators are proposed to confront the minimum reconstructed errors in INTSMC. Finally, some experimental results for the tracking of various contours are given to demonstrate the validity of the proposed INTSMC system for PFNS.

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

PubMed Central

Long, Yi; Du, Zhi-jiang; Wang, Wei-dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton.

PubMed

Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems.

Impact of optical feedback on current-induced polarization behavior of 1550 nm vertical-cavity surface-emitting lasers.

PubMed

Deng, Tao; Wu, Zheng-Mao; Xie, Yi-Yuan; Wu, Jia-Gui; Tang, Xi; Fan, Li; Panajotov, Krassimir; Xia, Guang-Qiong

2013-06-01

Polarization switching (PS) between two orthogonal linearly polarized fundamental modes is experimentally observed in commercial free-running 1550 nm vertical-cavity surface-emitting lasers (VCSELs) (Raycan). The characteristics of this PS are strongly modified after introducing a polarization-preserved (PP) or polarization-orthogonal (PO) optical feedback. Under the case that the external cavity is approximately 30 cm, the PP optical feedback results in the PS point shifting toward a lower injection current, and the region within which the two polarization modes coexist is enlarged with the increase of the PP feedback strength. Under too-strong PP feedback levels, the PS disappears. The impact of PO optical feedback on VCSEL polarization behavior is quite similar to that of PP optical feedback, but larger feedback strength is needed to obtain similar results.

On the stabilization of decentralized control systems.

NASA Technical Reports Server (NTRS)

Wang, S.-H.; Davison, E. J.

1973-01-01

This paper considers the problem of stabilizing a linear time-variant multivariable system by using several local feedback control laws. Each local feedback control law depends only on partial system outputs. A necessary and sufficient condition for the existence of local control laws with dynamic compensation to stabilize a given system is derived. This condition is stated in terms of a new notion, called fixed modes, which is a natural generalization of the well-known concept of uncontrollable modes and unobservable modes that occur in centralized control system problems. A procedure that constructs a set of stabilizing feedback control laws is given.

InP femtosecond mode-locked laser in a compound feedback cavity with a switchable repetition rate

NASA Astrophysics Data System (ADS)

Lo, Mu-Chieh; Guzmán, Robinson; Carpintero, Guillermo

2018-02-01

A monolithically integrated mode-locked semiconductor laser is proposed. The compound ring cavity is composed of a colliding pulse mode-locking (ML) subcavity and a passive Fabry-Perot feedback subcavity. These two 1.6 mm long subcavities are coupled by using on-chip reflectors at both ends, enabling harmonic mode locking. By changing DC-bias conditions, optical mode spacing from 50 to 450 GHz is experimentally demonstrated. Ultrafast pulses shorter than 0.3 ps emitted from this laser diode are shown in autocorrelation traces.

SWCD: a sliding window and self-regulated learning-based background updating method for change detection in videos

NASA Astrophysics Data System (ADS)

Işık, Şahin; Özkan, Kemal; Günal, Serkan; Gerek, Ömer Nezih

2018-03-01

Change detection with background subtraction process remains to be an unresolved issue and attracts research interest due to challenges encountered on static and dynamic scenes. The key challenge is about how to update dynamically changing backgrounds from frames with an adaptive and self-regulated feedback mechanism. In order to achieve this, we present an effective change detection algorithm for pixelwise changes. A sliding window approach combined with dynamic control of update parameters is introduced for updating background frames, which we called sliding window-based change detection. Comprehensive experiments on related test videos show that the integrated algorithm yields good objective and subjective performance by overcoming illumination variations, camera jitters, and intermittent object motions. It is argued that the obtained method makes a fair alternative in most types of foreground extraction scenarios; unlike case-specific methods, which normally fail for their nonconsidered scenarios.

Comparison of sensory modes of biofeedback in relaxation training of frontalis muscle.

PubMed

Chen, W

1981-12-01

The purpose of this study was to compare the effectiveness of various sensory modes of EMG biofeedback to relaxation training of the frontalis muscle. 19 male and 29 female subjects were randomly selected from a pool of college volunteers. They were then randomly assigned 12 each to audiofeedback, visual feedback, audiovisual feedback, and no feedback groups. There were 11 20-min. sessions per subject. Subjects in the biofeedback groups were trained to reduce muscle tension voluntarily by utilizing Cyborg J33 EMG portable trainers. The subjects in the three feedback groups exhibited significantly lower muscle tension than did the subjects in the no-feedback control group. There were no significant differences in relaxation among the three feedback groups.

Surface-plasmon distributed-feedback quantum cascade lasers operating pulsed, room temperature

NASA Astrophysics Data System (ADS)

Bousseksou, A.; Chassagneux, Y.; Coudevylle, J. R.; Colombelli, R.; Sirtori, C.; Patriarche, G.; Beaudoin, G.; Sagnes, I.

2009-08-01

We report distributed-feedback surface-plasmon quantum cascade lasers operating at λ ≈7.6μm. The distributed feedback is obtained by the sole patterning of the top metal contact on a surface plasmon waveguide. Single mode operation with more than 30dB side mode suppression ratio is obtained in pulsed mode and at room temperature. A careful experimental study confirms that by varying the grating duty cycle, one can reduce the waveguide losses with respect to standard, unpatterned surface-plasmon devices. This allows one to reduce the laser threshold current of more than a factor of 2 in the 200-300K temperature range. This approach may lead to a fabrication technology for midinfrared distributed-feedback lasers based on a very simple processing.

Emulating DC constant power load: a robust sliding mode control approach

NASA Astrophysics Data System (ADS)

Singh, Suresh; Fulwani, Deepak; Kumar, Vinod

2017-09-01

This article presents emulation of a programmable power electronic, constant power load (CPL) using a dc/dc step-up (boost) converter. The converter is controlled by a robust sliding mode controller (SMC). A novel switching surface is proposed to ensure a required power sunk by the converter. The proposed dc CPL is simple in design, has fast dynamic response and high accuracy, and offers an inexpensive alternative to study converters for cascaded dc distribution power system applications. Furthermore, the proposed CPL is sufficiently robust against the input voltage variations. A laboratory prototype of the proposed dc CPL has been developed and validated with SMC realised through OPAL-RT platform. The capability of the proposed dc CPL is confirmed via experimentations in varied scenarios.

Finite-time fault tolerant attitude stabilization control for rigid spacecraft.

PubMed

Huo, Xing; Hu, Qinglei; Xiao, Bing

2014-03-01

A sliding mode based finite-time control scheme is presented to address the problem of attitude stabilization for rigid spacecraft in the presence of actuator fault and external disturbances. More specifically, a nonlinear observer is first proposed to reconstruct the amplitude of actuator faults and external disturbances. It is proved that precise reconstruction with zero observer error is achieved in finite time. Then, together with the system states, the reconstructed information is used to synthesize a nonsingular terminal sliding mode attitude controller. The attitude and the angular velocity are asymptotically governed to zero with finite-time convergence. A numerical example is presented to demonstrate the effectiveness of the proposed scheme. © 2013 Published by ISA on behalf of ISA.

Maximum power point tracking algorithm based on sliding mode and fuzzy logic for photovoltaic sources under variable environmental conditions

NASA Astrophysics Data System (ADS)

Atik, L.; Petit, P.; Sawicki, J. P.; Ternifi, Z. T.; Bachir, G.; Della, M.; Aillerie, M.

2017-02-01

Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP), which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. Various methods for maximum power point tracking (MPPT) were developed and finally implemented in solar power electronic controllers to increase the efficiency in the electricity production originate from renewables. In this paper we compare using Matlab tools Simulink, two different MPP tracking methods, which are, fuzzy logic control (FL) and sliding mode control (SMC), considering their efficiency in solar energy production.

Sliding Mode Control of a Thermal Mixing Process

NASA Technical Reports Server (NTRS)

Richter, Hanz; Figueroa, Fernando

2004-01-01

In this paper we consider the robust control of a thermal mixer using multivariable Sliding Mode Control (SMC). The mixer consists of a mixing chamber, hot and cold fluid valves, and an exit valve. The commanded positions of the three valves are the available control inputs, while the controlled variables are total mass flow rate, chamber pressure and the density of the mixture inside the chamber. Unsteady thermodynamics and linear valve models are used in deriving a 5th order nonlinear system with three inputs and three outputs, An SMC controller is designed to achieve robust output tracking in the presence of unknown energy losses between the chamber and the environment. The usefulness of the technique is illustrated with a simulation.

Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

NASA Astrophysics Data System (ADS)

An, Hao; Wang, Changhong; Fidan, Baris

2017-10-01

This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.

PubMed

Wang, Tao; Xie, Wenfang; Zhang, Youmin

2012-05-01

In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive disturbance compensation finite control set optimal control for PMSM systems based on sliding mode extended state observer

NASA Astrophysics Data System (ADS)

Wu, Yun-jie; Li, Guo-fei

2018-01-01

Based on sliding mode extended state observer (SMESO) technique, an adaptive disturbance compensation finite control set optimal control (FCS-OC) strategy is proposed for permanent magnet synchronous motor (PMSM) system driven by voltage source inverter (VSI). So as to improve robustness of finite control set optimal control strategy, a SMESO is proposed to estimate the output-effect disturbance. The estimated value is fed back to finite control set optimal controller for implementing disturbance compensation. It is indicated through theoretical analysis that the designed SMESO could converge in finite time. The simulation results illustrate that the proposed adaptive disturbance compensation FCS-OC possesses better dynamical response behavior in the presence of disturbance.

On the adaptive sliding mode controller for a hyperchaotic fractional-order financial system

NASA Astrophysics Data System (ADS)

Hajipour, Ahamad; Hajipour, Mojtaba; Baleanu, Dumitru

2018-05-01

This manuscript mainly focuses on the construction, dynamic analysis and control of a new fractional-order financial system. The basic dynamical behaviors of the proposed system are studied such as the equilibrium points and their stability, Lyapunov exponents, bifurcation diagrams, phase portraits of state variables and the intervals of system parameters. It is shown that the system exhibits hyperchaotic behavior for a number of system parameters and fractional-order values. To stabilize the proposed hyperchaotic fractional system with uncertain dynamics and disturbances, an efficient adaptive sliding mode controller technique is developed. Using the proposed technique, two hyperchaotic fractional-order financial systems are also synchronized. Numerical simulations are presented to verify the successful performance of the designed controllers.

Screech tones from free and ducted supersonic jets

NASA Technical Reports Server (NTRS)

Tam, C. K. W.; Ahuja, K. K.; Jones, R. R., III

1994-01-01

It is well known that screech tones from supersonic jets are generated by a feedback loop. The loop consists of three main components. They are the downstream propagating instability wave, the shock cell structure in the jet plume, and the feedback acoustic waves immediately outside the jet. Evidence will be presented to show that the screech frequency is largely controlled by the characteristics of the feedback acoustic waves. The feedback loop is driven by the instability wave of the jet. Thus the tone intensity and its occurrence are dictated by the characteristics of the instability wave. In this paper the dependence of the instability wave spectrum on the azimuthal mode number (axisymmetric or helical/flapping mode, etc.), the jet-to-ambient gas temperature ratio, and the jet Mach number are studied. The results of this study provide an explanation for the observed screech tone mode switch phenomenon (changing from axisymmetric to helical mode as Mach number increases) and the often-cited experimental observation that tone intensity reduces with increase in jet temperature. For ducted supersonic jets screech tones can also be generated by feedback loops formed by the coupling of normal duct modes to instability waves of the jet. The screech frequencies are dictated by the frequencies of the duct modes. Super resonance, resonance involving very large pressure oscillations, can occur when the feedback loop is powered by the most amplified instability wave. It is proposed that the observed large amplitude pressure fluctuations and tone in the test cells of Arnold Engineering Development Center were generated by super resonance. Estimated super-resonance frequency for a Mach 1.3 axisymmetric jet tested in the facility agrees well with measurement.

A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

PubMed

Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

2016-03-01

Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback-Assisted Extension of the Tokamak Operating Space to Low Safety Factor

NASA Astrophysics Data System (ADS)

Hanson, J. M.

2013-10-01

Recent DIII-D experiments have demonstrated stable operation at very low edge safety factor, q95 <~ 2 through the use of magnetic feedback to control the n = 1 resistive wall mode (RWM) instability. The performance of tokamak fusion devices may benefit from increased plasma current, and thus, decreased q. However, disruptive stability limits are commonly encountered in experiments at qedge ~ 2 (limited plasmas) and q95 ~ 2 (diverted plasmas), limiting exploration of low q regimes. In the recent DIII-D experiments, the impact and control of key disruptive instabilities was studied. Locked n = 1 modes with exponential growth times on the order of the wall eddy current decay timescale τw preceded disruptions at q95 = 2 . The instabilities have a poloidal structure that is consistent with VALEN simulations of the RWM mode structure at q95 = 2 . Applying proportional gain magnetic feedback control of the n = 1 mode resulted in stabilized operation with q95 reaching 1.9, and an extension of the discharge lifetime for > 100τw . Loss of feedback control was accompanied by power supply saturation, followed by a rapidly growing n = 1 mode and disruption. Comparisons of the feedback dynamics with VALEN simulations will be presented. The DIII-D results complement and will be discussed alongside recent RFX-MOD demonstrations of RWM control using magnetic feedback in limited tokamak discharges with qedge < 2. These results call attention to the utility of magnetic feedback in significantly extending the tokamak operational space and potentially opening a new route to economical fusion power production. Supported by the US Department of Energy under DE-FG02-04ER54761 and DE-FC02-04ER54698.

Delamination growth analysis in quasi-isotropic laminates under loads simulating low-velocity impact

NASA Technical Reports Server (NTRS)

Shivakumar, K. N.; Elber, W.

1984-01-01

A geometrically nonlinear finite-element analysis has been developed to calculate the strain energy released by delaminating plates during impact loading. Only the first mode of deformation, which is equivalent to static deflection, was treated. Both the impact loading and delamination in the plate were assumed to be axisymmetric. The strain energy release rate in peeling, GI, and shear sliding, GII, modes were calculated using the fracture mechanics crack closure technique. Energy release rates for various delamination sizes and locations and for various plate configurations and materials were compared. The analysis indicated that shear sliding was the primary mode of delamination growth. The analysis also indicated that the midplane (maximum transverse shear stress plane) delamination was more critical and would grow first before any other delamination of the same size near the midplane region. The delamination growth rate was higher (neutrally stable) for a low toughness (brittle) matrix and slower (stable) for high toughness matrix. The energy release rate in the peeling mode, GI, for a near-surface delamination can be as high as 0.5GII, and can contribute significantly to the delamination growth.

Motility assays using myosin attached to surfaces through specific binding to monoclonal antibodies.

PubMed Central

Winkelmann, D. A.; Bourdieu, L.; Kinose, F.; Libchaber, A.

1995-01-01

We have analyzed the dependence of actin filament movement on the mode of myosin attachment to surfaces. Monoclonal antibodies that bind to three distinct sites were used to tether myosin to nitrocellulose-coated glass. One antibody reacts with an epitope on the regulatory light chain located at the head-rod junction. The other two react with sites in the rod domain, one in the S2 region near the S2-LMM hinge, and the other at the C terminus of the myosin rod. These monoclonal antibodies were used to provide increasing flexibility in the mode of attachment. Fast skeletal muscle myosin monomers were bound to the surfaces through the specific interaction with these monoclonal antibodies and the sliding movement of fluorescently labeled actin filaments analyzed by video microscopy. Each of these antibodies produced stable, myosin-coated surfaces that supported uniform movement of actin over the course of several hours. Attachment of myosin through the anti-S2 and anti-LMM monoclonal antibodies yielded a maximum velocity of 10 microns/s at 30 degrees C, whereas attachment through anti-LC2 produced a lower velocity of 4-5 microns/s. Each antibody showed a characteristic minimum myosin density below which sliding movement was no longer supported and an exponential dependence of actin filament velocity on myosin surface density below Vmax. Maximum sliding velocity was achieved over a range of myosin surface densities. Thus, the specific mode of attachment can influence the characteristic velocity of actin filament movement and the surface density needed to support movement. These data are being used to analyze the dynamics of sliding filament assays and evaluate estimates of the average number of motor molecules per unit length of actin required to support movement. PMID:7787107

Sex Role Learning: A Test of the Selective Attention Hypothesis.

ERIC Educational Resources Information Center

Bryan, Janice Westlund; Luria, Zella

This paper reports three studies designed to determine whether children show selective attention and/or differential memory to slide pictures of same-sex vs. opposite-sex models and activities. Attention was measured using a feedback EEG procedure, which measured the presence or absence of alpha rhythms in the subjects' brains during presentation…

Adhesive Wear Performance of CFRP Multilayered Polyester Composites Under Dry/wet Contact Conditions

NASA Astrophysics Data System (ADS)

Danaelan, D.; Yousif, B. F.

The tribo-performance of a new engineering composite material based on coconut fibers was investigated. In this work, coconut fibers reinforced polyester (CFRP) composites were developed. The tribo-experiments were conducted by using pin-on-disc machine under dry and wet sliding contact condition against smooth stainless steel counterface. Worn surfaces were observed using optical microscope. Friction coefficient and specific wear rate were presented as a function of sliding distance (0-0.6 km) at different sliding velocities (0.1-0.28 m/s). The effect of applied load and sliding velocity was evaluated. The results showed that all test parameters have significant influence on friction and wear characteristics of the composites. Moreover, friction coefficient increased as the normal load and speed increased, the values were about 0.7-0.9 under dry contact condition. Meanwhile, under wet contact condition, there was a great reduction in the friction coefficient, i.e. the values were about 0.1-0.2. Furthermore, the specific wear rates were found to be around 2-4 (10-3) mm3/Nm under dry contact condition and highly reduced under wet condition. In other words, the presence of water as cleaner and polisher assisted to enhance the adhesive wear performance of CFRP by about 10%. The images from optical microscope showed evidence of adhesive wear mode with transition to abrasive wear mode at higher sliding velocities due to third body abrasion. On the other hand, optical images for wet condition showed less adhesive wear and smooth surfaces.

Parameter identification and optimization of slide guide joint of CNC machine tools

NASA Astrophysics Data System (ADS)

Zhou, S.; Sun, B. B.

2017-11-01

The joint surface has an important influence on the performance of CNC machine tools. In order to identify the dynamic parameters of slide guide joint, the parametric finite element model of the joint is established and optimum design method is used based on the finite element simulation and modal test. Then the mode that has the most influence on the dynamics of slip joint is found through harmonic response analysis. Take the frequency of this mode as objective, the sensitivity analysis of the stiffness of each joint surface is carried out using Latin Hypercube Sampling and Monte Carlo Simulation. The result shows that the vertical stiffness of slip joint surface constituted by the bed and the slide plate has the most obvious influence on the structure. Therefore, this stiffness is taken as the optimization variable and the optimal value is obtained through studying the relationship between structural dynamic performance and stiffness. Take the stiffness values before and after optimization into the FEM of machine tool, and it is found that the dynamic performance of the machine tool is improved.

Investigation of temperature feedback signal parameters during neoplasms treatment by diode laser radiation

NASA Astrophysics Data System (ADS)

Belikov, Andrey V.; Gelfond, Mark L.; Shatilova, Ksenia V.; Semyashkina, Yulia V.

2016-04-01

Dynamics of temperature signal in operation area and laser power at nevus, papilloma, and keratoma in vivo removal by a 980+/-10 nm diode laser with "blackened" tip operating in continuous (CW) mode and with temperature feedback (APC) mode are presented. Feedback allows maintaining temperature in the area of laser treatment at a preset level by regulating power of diode laser radiation (automatic power control). Temperature in the area of laser treatment was controlled by measuring the amplitude of thermal radiation, which occurs when tissue is heated by laser radiation. Removal of neoplasm was carried out in CW mode with laser radiation average power of 12.5+/-0.5 W; mean temperature in the area of laser treatment was 900+/-10°C for nevus, 800+/-15°C for papilloma, and 850+/-20°C for keratoma. The same laser radiation maximal power (12.5 W) and targeted temperature (900°C) were set for nevus removal in APC mode. The results of investigation are real time oscillograms of the laser power and temperature in the area of laser treatment at neoplasms removal in two described above modes. Simultaneously with the measurement of laser power and the temperature in the area of laser treatment video recording of surgeon manipulations was carried out. We discuss the correlation between the power of the laser radiation, the temperature in the area of laser treatment and consistency of surgeon manipulation. It is shown that the method of removal (excision with or without traction, scanning) influences the temperature in the area of laser treatment. It was found, that at removal of nevus with temperature feedback (APC) mode to achieve comparable with CW mode temperature in the area of laser treatment (900+/-10°C) 20-50% less laser power is required. Consequently, removing these neoplasms in temperature feedback mode can be less traumatic than the removal in CW mode.

Robust and novel two degree of freedom fractional controller based on two-loop topology for inverted pendulum.

PubMed

Dwivedi, Prakash; Pandey, Sandeep; Junghare, A S

2018-04-01

A rotary single inverted pendulum (RSIP) typically represents a space booster rocket, Segway and similar systems with unstable equilibrium. This paper proposes a novel two degree of freedom (2-DOF) fractional control strategy based on 2-loop topology for RSIP system which can be extended to control the systems with unstable equilibrium. It comprises feedback and feed-forward paths. Primary controller relates the perturbation attenuation while the secondary controller is accountable for set point tracking. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The study will serve the outstanding experimental results for both, stabilization and trajectory tracking tasks. The study will also serve to present a comparison of the performance of the proposed controller with the 1-DOF FOPID controller and sliding mode controller (SMC) for the RSIP system. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity, robustness, and stability analysis through fractional root-locus and Bode-plot is investigated. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Friction measurements on InAs NWs by AFM manipulation

NASA Astrophysics Data System (ADS)

Pettersson, Hakan; Conache, Gabriela; Gray, Struan; Bordag, Michael; Ribayrol, Aline; Froberg, Linus; Samuelson, Lars; Montelius, Lars

2008-03-01

We discuss a new approach to measure the friction force between elastically deformed nanowires and a surface. The wires are bent, using an AFM, into an equilibrium shape determined by elastic restoring forces within the wire and friction between the wire and the surface. From measurements of the radius of curvature of the bent wires, elasticity theory allows the friction force per unit length to be calculated. We have studied friction properties of InAs nanowires deposited on SiO2, silanized SiO2 and Si3N4 substrates. The wires were typically from 0.5 to a few microns long, with diameters varying between 20 and 80 nm. Manipulation is done in a `Retrace Lift' mode, where feedback is turned off for the reverse scan and the tip follows a nominal path. The effective manipulation force during the reverse scan can be changed by varying an offset in the height of the tip over the surface. We will report on interesting static- and sliding friction experiments with nanowires on the different substrates, including how the friction force per unit length varies with the diameter of the wires.

Research on an Active Seat Belt System

NASA Astrophysics Data System (ADS)

Kawashima, Takeshi

In a car crash, permanent injury can be avoided if deformation of an occupant's rib cage is maintained within the allowable value. In order to realize this condition, the occupant's seat belt tension must be instantaneously adjusted by a feedback control system. In this study, a seat belt tension control system based on the active shock control system is proposed. The semi-active control law used is derived from the sliding mode control method. One advantage of this proposed system is that it does not require a large power actuator because the seat belt tension is controlled by a brake mechanism. The effectiveness is confirmed by numerical simulation using general parameters of a human thorax and a passenger car in a collision scenario with a wall at a velocity of 100 km/h. The feasibility is then confirmed with a control experiment using a scale model of about 1/10 scale. The relative displacement of the thorax model approaches the allowable value smoothly along the control reference and settles near this value. Thus, the proposed seat belt tension control system design is established.

Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hervas, Jaime Rubio; Tang, Hui; Reyhanoglu, Mahmut

2014-12-10

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative tomore » an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.« less

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

PubMed

Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

2018-04-01

Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

Experiments study on attitude coupling control method for flexible spacecraft

NASA Astrophysics Data System (ADS)

Wang, Jie; Li, Dongxu

2018-06-01

High pointing accuracy and stabilization are significant for spacecrafts to carry out Earth observing, laser communication and space exploration missions. However, when a spacecraft undergoes large angle maneuver, the excited elastic oscillation of flexible appendages, for instance, solar wing and onboard antenna, would downgrade the performance of the spacecraft platform. This paper proposes a coupling control method, which synthesizes the adaptive sliding mode controller and the positive position feedback (PPF) controller, to control the attitude and suppress the elastic vibration simultaneously. Because of its prominent performance for attitude tracking and stabilization, the proposed method is capable of slewing the flexible spacecraft with a large angle. Also, the method is robust to parametric uncertainties of the spacecraft model. Numerical simulations are carried out with a hub-plate system which undergoes a single-axis attitude maneuver. An attitude control testbed for the flexible spacecraft is established and experiments are conducted to validate the coupling control method. Both numerical and experimental results demonstrate that the method discussed above can effectively decrease the stabilization time and improve the attitude accuracy of the flexible spacecraft.

Telemedicine delivery of patient education in remote Ontario communities: feasibility of an Advanced Clinician Practitioner in Arthritis Care (ACPAC)-led inflammatory arthritis education program.

PubMed

Warmington, Kelly; Flewelling, Carol; Kennedy, Carol A; Shupak, Rachel; Papachristos, Angelo; Jones, Caroline; Linton, Denise; Beaton, Dorcas E; Lineker, Sydney

2017-01-01

Telemedicine-based approaches to health care service delivery improve access to care. It was recognized that adults with inflammatory arthritis (IA) living in remote areas had limited access to patient education and could benefit from the 1-day Prescription for Education (RxEd) program. The program was delivered by extended role practitioners with advanced training in arthritis care. Normally offered at one urban center, RxEd was adapted for videoconference delivery through two educator development workshops that addressed telemedicine and adult education best practices. This study explores the feasibility of and participant satisfaction with telemedicine delivery of the RxEd program in remote communities. Participants included adults with IA attending the RxEd program at one of six rural sites. They completed post-course program evaluations and follow-up interviews. Educators provided post-course feedback to identify program improvements that were later implemented. In total, 123 people (36 in-person and 87 remote, across 6 sites) participated, attending one of three RxEd sessions. Remote participants were satisfied with the quality of the video-conference (% agree/strongly agree): could hear the presenter (92.9%) and discussion between sites (82.4%); could see who was speaking at other remote sites (85.7%); could see the slides (95.3%); and interaction between sites adequately facilitated (94.0%). Educator and participant feedback were consistent. Suggested improvements included: use of two screens (speaker and slides); frontal camera angles; equal interaction with remote sites; and slide modifications to improve the readability on screen. Interview data included similar constructive feedback but highlighted the educational and social benefits of the program, which participants noted would have been inaccessible if not offered via telemedicine. Study findings confirm the feasibility of delivering the RxEd program to remote communities by using telemedicine. Future research with a focus on the sustainability of this and other models of technology-supported patient education for adults with IA across Ontario is warranted.

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning

PubMed Central

McGregor, Heather R.; Mohatarem, Ayman

2017-01-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback. PMID:28753634

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning.

PubMed

Cashaback, Joshua G A; McGregor, Heather R; Mohatarem, Ayman; Gribble, Paul L

2017-07-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback.

Feedback is the breakfast of champions: the significance of self-controlled formal feedback for autonomous task engagement.

PubMed

Meng, Liang; Yang, Zijing

2018-01-03

With the aim of examining the positive effect of the formal feedback mechanism itself beyond its informational aspect, we engaged participants in the stopwatch task and recorded their electroencephalogram throughout the experiment. This task requires a button press to stop the watch within a given time interval, the completion of which is simultaneously accompanied by adequate information on task performance. In the self-controlled feedback mode, participants could freely choose whether to request formal feedback after completing the task. In another mode, additional feedback was not provided. The 'non-choice' cue was found to elicit a more negative cue-elicited feedback negativity compared with 'choice', suggesting that the opportunity to solicit formal feedback was perceived as more desirable. In addition, a more enhanced stimulus-preceding negativity was observed prior to the task initiation cue in the self-controlled feedback condition, indicating that participants paid more sustained anticipatory attention during task preparation. Taken together, these electrophysiological results suggested an inherent reward within the formal feedback mechanism itself and the significance of self-controlled formal feedback for autonomous task engagement.

Experimental and theoretical studies of active control of resistive wall mode growth in the EXTRAP T2R reversed-field pinch

NASA Astrophysics Data System (ADS)

Drake, J. R.; Brunsell, P. R.; Yadikin, D.; Cecconello, M.; Malmberg, J. A.; Gregoratto, D.; Paccagnella, R.; Bolzonella, T.; Manduchi, G.; Marrelli, L.; Ortolani, S.; Spizzo, G.; Zanca, P.; Bondeson, A.; Liu, Y. Q.

2005-07-01

Active feedback control of resistive wall modes (RWMs) has been demonstrated in the EXTRAP T2R reversed-field pinch experiment. The control system includes a sensor consisting of an array of magnetic coils (measuring mode harmonics) and an actuator consisting of a saddle coil array (producing control harmonics). Closed-loop (feedback) experiments using a digital controller based on a real time Fourier transform of sensor data have been studied for cases where the feedback gain was constant and real for all harmonics (corresponding to an intelligent-shell) and cases where the feedback gain could be set for selected harmonics, with both real and complex values (targeted harmonics). The growth of the dominant RWMs can be reduced by feedback for both the intelligent-shell and targeted-harmonic control systems. Because the number of toroidal positions of the saddle coils in the array is half the number of the sensors, it is predicted and observed experimentally that the control harmonic spectrum has sidebands. Individual unstable harmonics can be controlled with real gains. However if there are two unstable mode harmonics coupled by the sideband effect, control is much less effective with real gains. According to the theory, complex gains give better results for (slowly) rotating RWMs, and experiments support this prediction. In addition, open loop experiments have been used to observe the effects of resonant field errors applied to unstable, marginally stable and robustly stable modes. The observed effects of field errors are consistent with the thin-wall model, where mode growth is proportional to the resonant field error amplitude and the wall penetration time for that mode harmonic.

Nonlinear dynamic analysis and robust controller design for Francis hydraulic turbine regulating system with a straight-tube surge tank

NASA Astrophysics Data System (ADS)

Liang, Ji; Yuan, Xiaohui; Yuan, Yanbin; Chen, Zhihuan; Li, Yuanzheng

2017-02-01

The safety and stability of hydraulic turbine regulating system (HTRS) in hydropower plants become increasingly important since the rapid development and the broad application of hydro energy technology. In this paper, a novel mathematical model of Francis hydraulic turbine regulating system with a straight-tube surge tank based on a few state-space equations is introduced to study the dynamic behaviors of the HTRS system, where the existence of possible unstable oscillations of this model is studied extensively and presented in the forms of the bifurcation diagram, time waveform plot, phase trajectories, and power spectrum. To eliminate these undesirable behaviors, a specified fuzzy sliding mode controller is designed. In this hybrid controller, the sliding mode control law makes full use of the proposed model to guarantee the robust control in the presence of system uncertainties, while the fuzzy system is applied to approximate the proper gains of the switching control in sliding mode technique to reduce the chattering effect, and particle swarm optimization is developed to search the optimal gains of the controller. Numerical simulations are presented to verify the effectiveness of the designed controller, and the results show that the performances of the nonlinear HTRS system assisted with the proposed controller is much better than that with the commonly used optimal PID controller.

Adaptive suboptimal second-order sliding mode control for microgrids

NASA Astrophysics Data System (ADS)

Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

2016-09-01

This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

Analytical impact time and angle guidance via time-varying sliding mode technique.

PubMed

Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

2016-05-01

To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A new adaptive control strategy for a class of nonlinear system using RBF neuro-sliding-mode technique: application to SEIG wind turbine control system

NASA Astrophysics Data System (ADS)

Kenné, Godpromesse; Fotso, Armel Simo; Lamnabhi-Lagarrigue, Françoise

2017-04-01

In this paper, a new hybrid method which combines radial basis function (RBF) neural network with a sliding-mode technique to take advantage of their common features is used to control a class of nonlinear systems. A real-time dynamic nonlinear learning law of the weight vector is synthesized and the closed-loop stability has been demonstrated using Lyapunov theory. The solution presented in this work does not need the knowledge of the perturbation bounds, neither the knowledge of the full state of the nonlinear system. In addition, the bounds of the nonlinear functions are assumed to be unknown and the proposed RBF structure uses reduced number of hidden units. This hybrid control strategy is applied to extract the maximum available energy from a stand-alone self-excited variable low-wind speed energy conversion system and design the dc-voltage and rotor flux controllers as well as the load-side frequency and voltage regulators assuming that the measured outputs are the rotor speed, stator currents, load-side currents and voltages despite large variation of the rotor resistance and uncertainties on the inductances. Finally, simulation results compared with those obtained using the well-known second-order sliding-mode controller are given to show the effectiveness and feasibility of the proposed approach.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

Estimation of Road Friction Coefficient in Different Road Conditions Based on Vehicle Braking Dynamics

NASA Astrophysics Data System (ADS)

Zhao, You-Qun; Li, Hai-Qing; Lin, Fen; Wang, Jian; Ji, Xue-Wu

2017-07-01

The accurate estimation of road friction coefficient in the active safety control system has become increasingly prominent. Most previous studies on road friction estimation have only used vehicle longitudinal or lateral dynamics and often ignored the load transfer, which tends to cause inaccurate of the actual road friction coefficient. A novel method considering load transfer of front and rear axles is proposed to estimate road friction coefficient based on braking dynamic model of two-wheeled vehicle. Sliding mode control technique is used to build the ideal braking torque controller, which control target is to control the actual wheel slip ratio of front and rear wheels tracking the ideal wheel slip ratio. In order to eliminate the chattering problem of the sliding mode controller, integral switching surface is used to design the sliding mode surface. A second order linear extended state observer is designed to observe road friction coefficient based on wheel speed and braking torque of front and rear wheels. The proposed road friction coefficient estimation schemes are evaluated by simulation in ADAMS/Car. The results show that the estimated values can well agree with the actual values in different road conditions. The observer can estimate road friction coefficient exactly in real-time and resist external disturbance. The proposed research provides a novel method to estimate road friction coefficient with strong robustness and more accurate.

Relative tracking control of constellation satellites considering inter-satellite link

NASA Astrophysics Data System (ADS)

Fakoor, M.; Amozegary, F.; Bakhtiari, M.; Daneshjou, K.

2017-11-01

In this article, two main issues related to the large-scale relative motion of satellites in the constellation are investigated to establish the Inter Satellite Link (ISL) which means the dynamic and control problems. In the section related to dynamic problems, a detailed and effective analytical solution is initially provided for the problem of satellite relative motion considering perturbations. The direct geometric method utilizing spherical coordinates is employed to achieve this solution. The evaluation of simulation shows that the solution obtained from the geometric method calculates the relative motion of the satellite with high accuracy. Thus, the proposed analytical solution will be applicable and effective. In the section related to control problems, the relative tracking control system between two satellites will be designed in order to establish a communication link between the satellites utilizing analytical solution for relative motion of satellites with respect to the reference trajectory. Sliding mode control approach is employed to develop the relative tracking control system for body to body and payload to payload tracking control. Efficiency of sliding mode control approach is compared with PID and LQR controllers. Two types of payload to payload tracking control considering with and without payload degree of freedom are designed and suitable one for practical ISL applications is introduced. Also, Fuzzy controller is utilized to eliminate the control input in the sliding mode controller.

Design and Control of a Proof-of-Concept Active Jet Engine Intake Using Shape Memory Alloy Actuators

NASA Technical Reports Server (NTRS)

Song, Gangbing; Ma, Ning; Penney, Nicholas; Barr, Todd; Lee, Ho-Jun; Arnold, Steven M.

2004-01-01

The design and control of a novel proof-of-concept active jet engine intake using Nickel-Titanium (Ni-Ti or Nitinol) shape memory alloy (SMA) wire actuators is used to demonstrate the potential of an adaptive intake to improve the fuel efficiency of a jet engine. The Nitinol SMA material is selected for this research due to the material's ability to generate large strains of up to 5 percent for repeated operations, a high power-to-weight ratio, electrical resistive actuation, and easy fabrication into a variety of shapes. The proof-of-concept engine intake employs an overlapping leaf design arranged in a concentric configuration. Each leaf is mounted on a supporting bar that rotates upon actuation by SMA wires electrical resistive heating. Feedback control is enabled through the use of a laser range sensor to detect the movement of a leaf and determine the radius of the intake area. Due to the hysteresis behavior inherent in SMAs, a nonlinear robust controller is used to direct the SMA wire actuation. The controller design utilizes the sliding-mode approach to compensate for the nonlinearities associated with the SMA actuator. Feedback control experiments conducted on a fabricated proof-of-concept model have demonstrated the capability to precisely control the intake area and achieve up to a 25 percent reduction in intake area. The experiments demonstrate the feasibility of engine intake area control using the proposed design.

Finite-Time Attitude Tracking Control for Spacecraft Using Terminal Sliding Mode and Chebyshev Neural Network.

PubMed

An-Min Zou; Kumar, K D; Zeng-Guang Hou; Xi Liu

2011-08-01

A finite-time attitude tracking control scheme is proposed for spacecraft using terminal sliding mode and Chebyshev neural network (NN) (CNN). The four-parameter representations (quaternion) are used to describe the spacecraft attitude for global representation without singularities. The attitude state (i.e., attitude and velocity) error dynamics is transformed to a double integrator dynamics with a constraint on the spacecraft attitude. With consideration of this constraint, a novel terminal sliding manifold is proposed for the spacecraft. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated unknown function, a switch function is applied to generate a switching between the adaptive NN control and the robust controller. Meanwhile, a CNN, whose basis functions are implemented using only desired signals, is introduced to approximate the desired nonlinear function and bounded external disturbances online, and the robust term based on the hyperbolic tangent function is applied to counteract NN approximation errors in the adaptive neural control scheme. Most importantly, the finite-time stability in both the reaching phase and the sliding phase can be guaranteed by a Lyapunov-based approach. Finally, numerical simulations on the attitude tracking control of spacecraft in the presence of an unknown mass moment of inertia matrix, bounded external disturbances, and control input constraints are presented to demonstrate the performance of the proposed controller.

Vehicle Hybrid Braking Control Using Sliding Mode Control

NASA Astrophysics Data System (ADS)

Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

Opto-electronic oscillators having optical resonators

NASA Technical Reports Server (NTRS)

Yao, Xiaotian Steve (Inventor); Maleki, Lutfollah (Inventor); Ilchenko, Vladimir (Inventor)

2003-01-01

Systems and techniques of incorporating an optical resonator in an optical part of a feedback loop in opto-electronic oscillators. This optical resonator provides a sufficiently long energy storage time and hence to produce an oscillation of a narrow linewidth and low phase noise. Certain mode matching conditions are required. For example, the mode spacing of the optical resonator is equal to one mode spacing, or a multiplicity of the mode spacing, of an opto-electronic feedback loop that receives a modulated optical signal and to produce an electrical oscillating signal.

Online Fault Detection of Permanent Magnet Demagnetization for IPMSMs by Nonsingular Fast Terminal-Sliding-Mode Observer

PubMed Central

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-01-01

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance. PMID:25490582

Control of a lithium-ion battery storage system for microgrid applications

NASA Astrophysics Data System (ADS)

Pegueroles-Queralt, Jordi; Bianchi, Fernando D.; Gomis-Bellmunt, Oriol

2014-12-01

The operation of future microgrids will require the use of energy storage systems employing power electronics converters with advanced power management capacities. This paper presents the control scheme for a medium power lithium-ion battery bidirectional DC/AC power converter intended for microgrid applications. The switching devices of a bidirectional DC converter are commanded by a single sliding mode control law, dynamically shaped by a linear voltage regulator in accordance with the battery management system. The sliding mode controller facilitates the implementation and design of the control law and simplifies the stability analysis over the entire operating range. Control parameters of the linear regulator are designed to minimize the impact of commutation noise in the DC-link voltage regulation. The effectiveness of the proposed control strategy is illustrated by experimental results.

Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

NASA Astrophysics Data System (ADS)

Tuan, Le Anh; Lee, Soon-Geul

2018-03-01

In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

Online fault detection of permanent magnet demagnetization for IPMSMs by nonsingular fast terminal-sliding-mode observer.

PubMed

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-12-05

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance.

A parameter estimation algorithm for spatial sine testing - Theory and evaluation

NASA Technical Reports Server (NTRS)

Rost, R. W.; Deblauwe, F.

1992-01-01

This paper presents the theory and an evaluation of a spatial sine testing parameter estimation algorithm that uses directly the measured forced mode of vibration and the measured force vector. The parameter estimation algorithm uses an ARMA model and a recursive QR algorithm is applied for data reduction. In this first evaluation, the algorithm has been applied to a frequency response matrix (which is a particular set of forced mode of vibration) using a sliding frequency window. The objective of the sliding frequency window is to execute the analysis simultaneously with the data acquisition. Since the pole values and the modal density are obtained from this analysis during the acquisition, the analysis information can be used to help determine the forcing vectors during the experimental data acquisition.

Nonlinear control of magnetic bearings

NASA Technical Reports Server (NTRS)

Pradeep, A. K.; Gurumoorthy, R.

1994-01-01

In this paper we present a variety of nonlinear controllers for the magnetic bearing that ensure both stability and robustness. We utilize techniques of discontinuous control to design novel control laws for the magnetic bearing. We present in particular sliding mode controllers, time optimal controllers, winding algorithm based controllers, nested switching controllers, fractional controllers, and synchronous switching controllers for the magnetic bearing. We show existence of solutions to systems governed by discontinuous control laws, and prove stability and robustness of the chosen control laws in a rigorous setting. We design sliding mode observers for the magnetic bearing and prove the convergence of the state estimates to their true values. We present simulation results of the performance of the magnetic bearing subject to the aforementioned control laws, and conclude with comments on design.

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

PubMed

Mofid, Omid; Mobayen, Saleh

2018-01-01

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Fiber laser with combined feedback of core and cladding modes assisted by an intracavity long-period grating.

PubMed

Sáez-Rodriguez, D; Cruz, J L; Díez, A; Andrés, M V

2011-05-15

We present a fiber laser made in a single piece of conventional doped-core fiber that operates by combined feedback of the fundamental core mode LP((0,1)) and the high-order cladding mode LP((0,10)). The laser is an all-fiber structure that uses two fiber Bragg gratings and a long-period grating to select the modes circulating in the cavity; the laser emits at the coupling wavelength between the core mode LP((0,1)) and the counterpropagating cladding mode LP((0,10)) in the Bragg gratings. This work demonstrates the feasibility of high-order mode fiber lasers assisted by long-period gratings. © 2011 Optical Society of America

Precise measurement of single-mode fiber lengths using a gain-switched distributed feedback laser with delayed optical feedback.

PubMed

Wada, Kenji; Matsukura, Satoru; Tanaka, Amaka; Matsuyama, Tetsuya; Horinaka, Hiromichi

2015-09-07

A simple method to measure single-mode optical fiber lengths is proposed and demonstrated using a gain-switched 1.55-μm distributed feedback laser without a fast photodetector or an optical interferometer. From the variation in the amplified spontaneous emission noise intensity with respect to the modulation frequency of the gain switching, the optical length of a 1-km single-mode fiber immersed in water is found to be 1471.043915 m ± 33 μm, corresponding to a relative standard deviation of 2.2 × 10(-8). This optical length is an average value over a measurement time of one minute under ordinary laboratory conditions.

Releasable High-Mechanical-Advantage Linear Actuator

NASA Technical Reports Server (NTRS)

Young, Gordon H.

1994-01-01

Proposed linear actuator includes ball-screw mechanism made to engage or disengage piston as needed. Requires low power to maintain release and no power to maintain engagement. Pins sliding radially in solenoids in yoke engage or disengage slot in piston. With help of optoelectronic feedback, yoke made to follow free piston during disengagement so always in position to "grab" piston.

An improved output feedback control of flexible large space structures

NASA Technical Reports Server (NTRS)

Lin, Y. H.; Lin, J. G.

1980-01-01

A special output feedback control design technique for flexible large space structures is proposed. It is shown that the technique will increase both the damping and frequency of selected modes for more effective control. It is also able to effect integrated control of elastic and rigid-body modes and, in particular, closed-loop system stability and robustness to modal truncation and parameter variation. The technique is seen as marking an improvement over previous work concerning large space structures output feedback control.

Pad-mode-induced instantaneous mode instability for simple models of brake systems

NASA Astrophysics Data System (ADS)

Oberst, S.; Lai, J. C. S.

2015-10-01

Automotive disc brake squeal is fugitive, transient and remains difficult to predict. In particular, instantaneous mode squeal observed experimentally does not seem to be associated with mode coupling and its mechanism is not clear. The effects of contact pressures, friction coefficients as well as material properties (pressure and temperature dependency and anisotropy) for brake squeal propensity have not been systematically explored. By analysing a finite element model of an isotropic pad sliding on a plate similar to that of a previously reported experimental study, pad modes have been identified and found to be stable using conventional complex eigenvalue analysis. However, by subjecting the model to contact pressure harmonic excitation for a range of pressures and friction coefficients, a forced response analysis reveals that the dissipated energy for pad modes is negative and becomes more negative with increasing contact pressures and friction coefficients, indicating the potential for instabilities. The frequency of the pad mode in the sliding direction is within the range of squeal frequencies observed experimentally. Nonlinear time series analysis of the vibration velocity also confirms the evolution of instabilities induced by pad modes as the friction coefficient increases. By extending this analysis to a more realistic but simple brake model in the form of a pad-on-disc system, in-plane pad-modes, which a complex eigenvalue analysis predicts to be stable, have also been identified by negative dissipated energy for both isotropic and anisotropic pad material properties. The influence of contact pressures on potential instabilities has been found to be more dominant than changes in material properties owing to changes in pressure or temperature. Results here suggest that instantaneous mode squeal is likely caused by in-plane pad-mode instabilities.

Kennedy Space Center Medical Operations and Medical Kit

NASA Technical Reports Server (NTRS)

Scarpa, Philip

2011-01-01

This slide presentation reviews the emergency medical operations at Kennedy Space center, the KSC launch and landing contingency modes, the triage site, the medical kit, and the medications available.

Nonlinear feedback in a six-dimensional Lorenz Model: impact of an additional heating term

NASA Astrophysics Data System (ADS)

Shen, B.-W.

2015-03-01

In this study, a six-dimensional Lorenz model (6DLM) is derived, based on a recent study using a five-dimensional (5-D) Lorenz model (LM), in order to examine the impact of an additional mode and its accompanying heating term on solution stability. The new mode added to improve the representation of the steamfunction is referred to as a secondary streamfunction mode, while the two additional modes, that appear in both the 6DLM and 5DLM but not in the original LM, are referred to as secondary temperature modes. Two energy conservation relationships of the 6DLM are first derived in the dissipationless limit. The impact of three additional modes on solution stability is examined by comparing numerical solutions and ensemble Lyapunov exponents of the 6DLM and 5DLM as well as the original LM. For the onset of chaos, the critical value of the normalized Rayleigh number (rc) is determined to be 41.1. The critical value is larger than that in the 3DLM (rc ~ 24.74), but slightly smaller than the one in the 5DLM (rc ~ 42.9). A stability analysis and numerical experiments obtained using generalized LMs, with or without simplifications, suggest the following: (1) negative nonlinear feedback in association with the secondary temperature modes, as first identified using the 5DLM, plays a dominant role in providing feedback for improving the solution's stability of the 6DLM, (2) the additional heating term in association with the secondary streamfunction mode may destabilize the solution, and (3) overall feedback due to the secondary streamfunction mode is much smaller than the feedback due to the secondary temperature modes; therefore, the critical Rayleigh number of the 6DLM is comparable to that of the 5DLM. The 5DLM and 6DLM collectively suggest different roles for small-scale processes (i.e., stabilization vs. destabilization), consistent with the following statement by Lorenz (1972): If the flap of a butterfly's wings can be instrumental in generating a tornado, it can equally well be instrumental in preventing a tornado. The implications of this and previous work, as well as future work, are also discussed.

Nonlinear feedback in a six-dimensional Lorenz model: impact of an additional heating term

NASA Astrophysics Data System (ADS)

Shen, B.-W.

2015-12-01

In this study, a six-dimensional Lorenz model (6DLM) is derived, based on a recent study using a five-dimensional (5-D) Lorenz model (LM), in order to examine the impact of an additional mode and its accompanying heating term on solution stability. The new mode added to improve the representation of the streamfunction is referred to as a secondary streamfunction mode, while the two additional modes, which appear in both the 6DLM and 5DLM but not in the original LM, are referred to as secondary temperature modes. Two energy conservation relationships of the 6DLM are first derived in the dissipationless limit. The impact of three additional modes on solution stability is examined by comparing numerical solutions and ensemble Lyapunov exponents of the 6DLM and 5DLM as well as the original LM. For the onset of chaos, the critical value of the normalized Rayleigh number (rc) is determined to be 41.1. The critical value is larger than that in the 3DLM (rc ~ 24.74), but slightly smaller than the one in the 5DLM (rc ~ 42.9). A stability analysis and numerical experiments obtained using generalized LMs, with or without simplifications, suggest the following: (1) negative nonlinear feedback in association with the secondary temperature modes, as first identified using the 5DLM, plays a dominant role in providing feedback for improving the solution's stability of the 6DLM, (2) the additional heating term in association with the secondary streamfunction mode may destabilize the solution, and (3) overall feedback due to the secondary streamfunction mode is much smaller than the feedback due to the secondary temperature modes; therefore, the critical Rayleigh number of the 6DLM is comparable to that of the 5DLM. The 5DLM and 6DLM collectively suggest different roles for small-scale processes (i.e., stabilization vs. destabilization), consistent with the following statement by Lorenz (1972): "If the flap of a butterfly's wings can be instrumental in generating a tornado, it can equally well be instrumental in preventing a tornado." The implications of this and previous work, as well as future work, are also discussed.

Fluid pressure responses for a Devil's Slide-like system: problem formulation and simulation

USGS Publications Warehouse

Thomas, Matthew A.; Loague, Keith; Voss, Clifford I.

2015-01-01

This study employs a hydrogeologic simulation approach to investigate subsurface fluid pressures for a landslide-prone section of the central California, USA, coast known as Devil's Slide. Understanding the relative changes in subsurface fluid pressures is important for systems, such as Devil's Slide, where slope creep can be interrupted by episodic slip events. Surface mapping, exploratory core, tunnel excavation records, and dip meter data were leveraged to conceptualize the parameter space for three-dimensional (3D) Devil's Slide-like simulations. Field observations (i.e. seepage meter, water retention, and infiltration experiments; well records; and piezometric data) and groundwater flow simulation (i.e. one-dimensional vertical, transient, and variably saturated) were used to design the boundary conditions for 3D Devil's Slide-like problems. Twenty-four simulations of steady-state saturated subsurface flow were conducted in a concept-development mode. Recharge, heterogeneity, and anisotropy are shown to increase fluid pressures for failure-prone locations by up to 18.1, 4.5, and 1.8% respectively. Previous estimates of slope stability, driven by simple water balances, are significantly improved upon with the fluid pressures reported here. The results, for a Devil's Slide-like system, provide a foundation for future investigations

Fracture under combined modes in 4340 steel

NASA Technical Reports Server (NTRS)

Shah, R. C.

1974-01-01

An experimental investigation was conducted to study the interaction of combined modes of loading on crack instability in the presence of the opening and sliding modes of stress intensity factors, the opening and tearing modes of stress intensity factors, and all three modes of stress intensity factors. Through-cracked and surface-cracked flat and round specimens, and round notched bar specimens fabricated from high strength 4340 steel were used for the investigation. The results are evaluated to determine fracture criteria under the combined modes of stress intensity factors for the 4340 steel. These results are compared with the results of other investigators obtained for different materials.

Overcoming nanoscale friction barriers in transition metal dichalcogenides

NASA Astrophysics Data System (ADS)

Cammarata, Antonio; Polcar, Tomas

2017-08-01

We study the atomic contributions to the nanoscale friction in layered M X2 (M =Mo , W; X =S , Se, Te) transition metal dichalcogenides by combining ab initio techniques with group-theoretical analysis. Starting from stable atomic configurations, we propose a computational method, named normal-modes transition approximation (NMTA), to individuate possible sliding paths from only the analysis of the phonon modes of the stable geometry. The method provides a way to decompose the atomic displacements realizing the layer sliding in terms of phonon modes of the stable structure, so as to guide the selection and tuning of specific atomic motions promoting M X2 sheets gliding, and to adjust the corresponding energy barrier. The present results show that main contributions to the nanoscale friction are due to few low frequency phonon modes, corresponding to rigid shifts of M X2 layers. We also provide further evidences that a previously reported Ti-doped MoS2 phase is a promising candidate as new material with enhanced tribologic properties. The NMTA approach can be exploited to tune the energetic and the structural features of specific phonon modes, and, thanks to its general formulation, can also be applied to any solid state system, irrespective of the chemical composition and structural topology.

Functional relationships among monitoring performance: Subjective report of thought process and compromising states of awareness

NASA Technical Reports Server (NTRS)

Freeman, Frederick

1995-01-01

A biocybernetic system for use in adaptive automation was evaluated using EEG indices based on the beta, alpha, and theta bandwidths. Subjects performed a compensatory tracking task while their EEG was recorded and one of three engagement indices was derived: beta/(alpha + theta), beta/alpha, or 1/alpha. The task was switched between manual and automatic modes as a function of the subjects' level of engagement and whether they were under a positive or negative feedback condition. It was hypothesized that negative feedback would produce more switches between manual and automatic modes, and that the beta/(alpha + theta) index would produce the strongest effect. The results confirmed these hypotheses. There were no systematic changes in these effects over three 16-minute trials. Tracking performance was found to be better under negative feedback. An analysis of the different EEG bands under positive and negative feedback in manual and automatic modes found more beta power in the positive feedback/manual condition and less in the positive feedback/automatic condition. The opposite effect was observed for alpha and theta power. The implications of biocybernetic systems for adaptive automation are discussed.

Seismic Stability Evaluation of Ririe Dam and Reservoir Project. Report 2. Stability Calculations, Analysis, and Evaluations. Volume 1. Main Text

DTIC Science & Technology

1991-09-01

Army (i #Awleable) Engineer istrict. Walls Welli NPW-EN- GI _____________________ Bc DRSSW4~Sse.adZPa 10 SOURCE OF FUNDING NUMBERS Bldg. 602, City...cracks induced by ground motions. Z. Overtopping of dam due to seiches in reservoir. h. Overtopping of dam due to slides or rockfalls into reservoir. j...overtopping due to slides or rockfalls is not likely. Three potential modes of failure remain from the original list: (c) slope failures induced by

Percolation, sliding, localization and relaxation in topologically closed circuits

NASA Astrophysics Data System (ADS)

Hurowitz, Daniel; Cohen, Doron

2016-03-01

Considering a random walk in a random environment in a topologically closed circuit, we explore the implications of the percolation and sliding transitions for its relaxation modes. A complementary question regarding the “delocalization” of eigenstates of non-hermitian Hamiltonians has been addressed by Hatano, Nelson, and followers. But we show that for a conservative stochastic process the implied spectral properties are dramatically different. In particular we determine the threshold for under-damped relaxation, and observe “complexity saturation” as the bias is increased.

Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

NASA Technical Reports Server (NTRS)

Townsend, Julie; Biesiadecki, Jeffrey

2012-01-01

The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.

Time delay signature elimination of chaos in a semiconductor laser by dispersive feedback from a chirped FBG.

PubMed

Wang, Daming; Wang, Longsheng; Zhao, Tong; Gao, Hua; Wang, Yuncai; Chen, Xianfeng; Wang, Anbang

2017-05-15

Time delay signature (TDS) of a semiconductor laser subject to dispersive optical feedback from a chirped fibre Bragg grating (CFBG) is investigated experimentally and numerically. Different from mirror, CFBG provides additional frequency-dependent delay caused by dispersion, and thus induces external-cavity modes with irregular mode separation rather than a fixed separation induced by mirror feedback. Compared with mirror feedback, the CFBG feedback can greatly depress and even eliminate the TDS, although it leads to a similar quasi-period route to chaos with increases of feedback. In experiments, by using a CFBG with dispersion of 2000ps/nm, the TDS is decreased by 90% to about 0.04 compared with mirror feedback. Furthermore, both numerical and experimental results show that the TDS evolution is quite different: the TDS decreases more quickly down to a lower plateau (even background noise level of autocorrelation function) and never rises again. This evolution tendency is also different from that of FBG feedback, of which the TDS first decreases to a minimal value and then increases again as feedback strength increases. In addition, the CFBG feedback has no filtering effects and does not require amplification for feedback light.

Delamination growth analysis in quasi-isotropic laminates under loads simulating low-velocity impact

NASA Technical Reports Server (NTRS)

Shivakumar, K. N.; Elber, W.

1984-01-01

A geometrically nonlinear finite-element analysis was developed to calculate the strain energy released by delamination plates during impact loading. Only the first mode of deformation, which is equivalent to static deflection, was treated. Both the impact loading and delamination in the plate were assumed to be axisymmetric. The strain energy release rate in peeling, G sub I, and shear sliding, G sub II, modes were calculated using the fracture mechanics crack closure technique. Energy release rates for various delamination sizes and locations and for various plate configurations and materials were compared. The analysis indicated that shear sliding (G sub II) was the primary mode of delamination growth. The analysis also indicated that the midplane (maximum transverse shear stress plane) delamination was more critical and would grow before any other delamination of the same size near the midplane region. The delamination growth rate was higher (neutrally stable) for a low toughness (brittle) matrix and slower (stable) for high toughness matrix. The energy release rate in the peeling mode, G sub I, for a near-surface delamination can be as high as 0.5G sub II and can contribute significantly to the delamination growth.

Dynamic-robotic telepathology: Department of Veterans Affairs feasibility study.

PubMed

Dunn, B E; Almagro, U A; Choi, H; Sheth, N K; Arnold, J S; Recla, D L; Krupinski, E A; Graham, A R; Weinstein, R S

1997-01-01

In this retrospective study, we assess the accuracy, confidence levels, and viewing times of two generalist pathologists using both dynamic-robotic telepathology and conventional light microscopy (LM) to render diagnoses on a test set of 100 consecutive routine surgical pathology cases. The objective is to determine whether telepathology will allow a pathology group practice at a diagnostic hub to provide routine diagnostic services to a remote hospital without an on-site pathologist. For TP, glass slides were placed on the motorized stage of the robotic microscope of a telepathology system by a senior laboratory technologist in Iron Mountain, MI. Real-time control of the motorized microscope was then transferred to a pathologist in Milwaukee, WI, who viewed images of the glass slides on a video monitor. The telepathologists deferred rendering a diagnosis in 1.5% of cases. Clinically important concordance between the individual diagnoses rendered by telepathology and the "truth" diagnoses established by rereview of glass slides was 98.5%. In the telepathology mode, there were five incorrect diagnoses out of a total of 197 diagnoses. In four cases in which the telepathology diagnosis was incorrect, the pathologist's diagnosis by LM was identical to that rendered by telepathology. These represent errors of interpretation and cannot be ascribed to telepathology. The certainty of the pathologists with respect to their diagnoses was evaluated over time. Results for the first 50 cases served as baseline data. For the second 50 cases, confidence in rendering a diagnosis in the telepathology mode was essentially identical to that of making a diagnosis in the LM viewing mode. Viewing times in the telepathology mode also improved with more experience using the telepathology system. These results support the concept that an off-site pathologist using dynamic-robotic telepathology can substitute for an on-site pathologist as a service provider.

Biocybernetic system evaluates indices of operator engagement in automated task

NASA Technical Reports Server (NTRS)

Pope, A. T.; Bogart, E. H.; Bartolome, D. S.

1995-01-01

A biocybernetic system has been developed as a method to evaluate automated flight deck concepts for compatibility with human capabilities. A biocybernetic loop is formed by adjusting the mode of operation of a task set (e.g., manual/automated mix) based on electroencephalographic (EEG) signals reflecting an operator's engagement in the task set. A critical issue for the loop operation is the selection of features of the EEG to provide an index of engagement upon which to base decisions to adjust task mode. Subjects were run in the closed-loop feedback configuration under four candidate and three experimental control definitions of an engagement index. The temporal patterning of system mode switching was observed for both positive and negative feedback of the index. The indices were judged on the basis of their relative strength in exhibiting expected feedback control system phenomena (stable operation under negative feedback and unstable operation under positive feedback). Of the candidate indices evaluated in this study, an index constructed according to the formula, beta power/(alpha power + theta power), reflected task engagement best.

External modes in quantum dot light emitting diode with filtered optical feedback

NASA Astrophysics Data System (ADS)

Al Husseini, Hussein B.; Al Naimee, Kais A.; Al-Khursan, Amin H.; Khedir, Ali. H.

2016-06-01

This research reports a theoretical investigation on the role of filtered optical feedback (FOF) in the quantum dot light emitting diode (QD-LED). The underlying dynamics is affected by a sidle node, which returns to an elliptical shape when the wetting layer (WL) is neglected. Both filter width and time delay change the appearance of different dynamics (chaotic and mixed mode oscillations, MMOs). The results agree with the experimental observations. Here, the fixed point analysis for QDs was done for the first time. For QD-LED with FOF, the system transits from the coherence collapse case in conventional optical feedback to a coherent case with a filtered mode in FOF. It was found that the WL washes out the modes which is an unexpected result. This may attributed to the longer capture time of WL compared with that between QD states. Thus, WL reduces the chaotic behavior.

Mode-selective control of thermal Brownian vibration of micro-resonator (Generation of a thermal no-equilibrium state by mechanical feedback control)

NASA Astrophysics Data System (ADS)

Kawamura, Y.; Kanegae, R.

2017-09-01

Recently, there have been various attempts to dampen the vibration amplitude of the Brownian motion of a microresonator below the thermal vibration amplitude, with the goal of reaching the quantum ground vibration level. To further develop the approach of reaching the quantum ground state, it is essential to clarify whether or not coupling exists between the different vibration modes of the resonator. In this paper, the mode-selective control of thermal Brownian vibration is shown. The first and the second vibration modes of a micro-cantilever moved by a random Brownian motion are cooled selectively and independently below the thermal vibration amplitude, as determined by the statistical thermodynamic theory, using a mechanical feedback control method. This experimental result shows that the thermal no-equilibrium condition was generated by mechanical feedback control.

External modes in quantum dot light emitting diode with filtered optical feedback

DOE Office of Scientific and Technical Information (OSTI.GOV)

Al Husseini, Hussein B.; Department of Physics, College of Science, University of Baghdad, Al Jadiriyah, Baghdad; Al Naimee, Kais A.

2016-06-14

This research reports a theoretical investigation on the role of filtered optical feedback (FOF) in the quantum dot light emitting diode (QD-LED). The underlying dynamics is affected by a sidle node, which returns to an elliptical shape when the wetting layer (WL) is neglected. Both filter width and time delay change the appearance of different dynamics (chaotic and mixed mode oscillations, MMOs). The results agree with the experimental observations. Here, the fixed point analysis for QDs was done for the first time. For QD-LED with FOF, the system transits from the coherence collapse case in conventional optical feedback to amore » coherent case with a filtered mode in FOF. It was found that the WL washes out the modes which is an unexpected result. This may attributed to the longer capture time of WL compared with that between QD states. Thus, WL reduces the chaotic behavior.« less

Gram staining with an automatic machine.

PubMed

Felek, S; Arslan, A

1999-01-01

This study was undertaken to develop a new Gram-staining machine controlled by a micro-controller and to investigate the quality of slides that were stained in the machine. The machine was designed and produced by the authors. It uses standard 220 V AC. Staining, washing, and drying periods are controlled by a timer built in the micro-controller. A software was made that contains a certain algorithm and time intervals for the staining mode. One-hundred and forty smears were prepared from Escherichia coli, Staphylococcus aureus, Neisseria sp., blood culture, trypticase soy broth, direct pus and sputum smears for comparison studies. Half of the slides in each group were stained with the machine, the other half by hand and then examined by four different microbiologists. Machine-stained slides had a higher clarity and less debris than the hand-stained slides (p < 0.05). In hand-stained slides, some Gram-positive organisms showed poor Gram-positive staining features (p < 0.05). In conclusion, we suggest that Gram staining with the automatic machine increases the staining quality and helps to decrease the work load in a busy diagnostic laboratory.

The unit event of sliding of the chemo-mechanical enzyme composed of myosin and actin with regulatory proteins.

PubMed

Oosawa, Fumio

2008-04-25

Various myosin-actin systems do not always show the same sliding behaviors. To make the situation clear, discussions are concentrated on the unit event of sliding of the chemo-mechanical enzyme composed of a single myosin head and a single actin filament with regulatory proteins. The popular idea of the one-to-one correspondence between the chemical state and the physical state or between the chemical reaction step and the physical conformational change is reexamined. It is likely that the sites and the modes of interaction between myosin head and actin filament during the ATP hydrolysis are more multiple and variable, and the input-output coupling in the chemo-mechanical enzyme is loose.

Single transverse mode protein laser

NASA Astrophysics Data System (ADS)

Dogru, Itir Bakis; Min, Kyungtaek; Umar, Muhammad; Bahmani Jalali, Houman; Begar, Efe; Conkar, Deniz; Firat Karalar, Elif Nur; Kim, Sunghwan; Nizamoglu, Sedat

2017-12-01

Here, we report a single transverse mode distributed feedback (DFB) protein laser. The gain medium that is composed of enhanced green fluorescent protein in a silk fibroin matrix yields a waveguiding gain layer on a DFB resonator. The thin TiO2 layer on the quartz grating improves optical feedback due to the increased effective refractive index. The protein laser shows a single transverse mode lasing at the wavelength of 520 nm with the threshold level of 92.1 μJ/ mm2.

Positive sliding mode control for blood glucose regulation

NASA Astrophysics Data System (ADS)

Menani, Karima; Mohammadridha, Taghreed; Magdelaine, Nicolas; Abdelaziz, Mourad; Moog, Claude H.

2017-11-01

Biological systems involving positive variables as concentrations are some examples of so-called positive systems. This is the case of the glycemia-insulinemia system considered in this paper. To cope with these physical constraints, it is shown that a positive sliding mode control (SMC) can be designed for glycemia regulation. The largest positive invariant set (PIS) is obtained for the insulinemia subsystem in open and closed loop. The existence of a positive SMC for glycemia regulation is shown here for the first time. Necessary conditions to design the sliding surface and the discontinuity gain are derived to guarantee a positive SMC for the insulin dynamics. SMC is designed to be positive everywhere in the largest closed-loop PIS of plasma insulin system. Two-stage SMC is employed; the last stage SMC2 block uses the glycemia error to design the desired insulin trajectory. Then the plasma insulin state is forced to track the reference via SMC1. The resulting desired insulin trajectory is the required virtual control input of the glycemia system to eliminate blood glucose (BG) error. The positive control is tested in silico on type-1 diabetic patients model derived from real-life clinical data.

Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

PubMed

Xingling, Shao; Honglun, Wang

2014-11-01

This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Rotor Current Control of DFIG for Improving Fault Ride - Through Using a Novel Sliding Mode Control Approach

NASA Astrophysics Data System (ADS)

Cai, Guowei; Liu, Cheng; Yang, Deyou

2013-11-01

The doubly fed induction generators (DFIG) have been recognized as the dominant technology used in wind power generation systems with the rapid development of wind power. However, continuous operation of DFIG may cause a serious wind turbine generators tripping accident, due to destructive over-current in the rotor winding which is caused by the power system fault or inefficient fault ride-through (FRT) strategy. A new rotor current control scheme in the rotor-side converter (RSC) ispresented to enhance FRT capacities of grid-connected DFIG. Due to the strongly nonlinear nature of DFIG and insensitive to DFIG parameter's variations, a novel sliding mode controller was designed. The controller combines extended state observer (ESO) with sliding model variable structure control theory. The simulation is carried out to verify the effectiveness of the proposed control approach under various types of grid disturbances. It is shown that the proposed controller provides enhanced transient features than the classic proportional-integral control. The proposed control method can effectively reduce over-current in the RSC, and the transient pulse value of electromagnetic torque is too large under power grid fault.

Microstructure-failure mode correlations in braided composites

NASA Technical Reports Server (NTRS)

Filatovs, G. J.; Sadler, Robert L.; El-Shiekh, Aly

1992-01-01

Explication of the fracture processes of braided composites is needed for modeling their behavior. Described is a systematic exploration of the relationship between microstructure, loading mode, and micro-failure mechanisms in carbon/epoxy braided composites. The study involved compression and fracture toughness tests and optical and scanning electron fractography, including dynamic in-situ testing. Principal failure mechanisms of low sliding, buckling, and unstable crack growth are correlated to microstructural parameters and loading modes; these are used for defining those microstructural conditions which are strength limiting.

High precision tracking control of a servo gantry with dynamic friction compensation.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-05-01

This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Control of discrete time systems based on recurrent Super-Twisting-like algorithm.

PubMed

Salgado, I; Kamal, S; Bandyopadhyay, B; Chairez, I; Fridman, L

2016-09-01

Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

NASA Astrophysics Data System (ADS)

Khanzadeh, Alireza; Pourgholi, Mahdi

2016-08-01

In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

PubMed

Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

PubMed Central

Zhao, Bo; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

NASA Astrophysics Data System (ADS)

Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

2010-08-01

This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control.

PubMed

Li, Le-Bao; Sun, Ling-Ling; Zhang, Sheng-Zhou; Yang, Qing-Quan

2015-09-01

A new control approach for speed tracking and synchronization of multiple motors is developed, by incorporating an adaptive sliding mode control (ASMC) technique into a ring coupling synchronization control structure. This control approach can stabilize speed tracking of each motor and synchronize its motion with other motors' motion so that speed tracking errors and synchronization errors converge to zero. Moreover, an adaptive law is exploited to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort and attenuate chattering. Performance comparisons with parallel control, relative coupling control and conventional PI control are investigated on a four-motor synchronization control system. Extensive simulation results show the effectiveness of the proposed control scheme. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft.

PubMed

Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

2015-11-01

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

NASA Astrophysics Data System (ADS)

Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

2015-11-01

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

Design and implementation of a new modified sliding mode controller for grid-connected inverter to controlling the voltage and frequency.

PubMed

Ghanbarian, Mohammad Mehdi; Nayeripour, Majid; Rajaei, Amirhossein; Mansouri, Mohammad Mahdi

2016-03-01

As the output power of a microgrid with renewable energy sources should be regulated based on the grid conditions, using robust controllers to share and balance the power in order to regulate the voltage and frequency of microgrid is critical. Therefore a proper control system is necessary for updating the reference signals and determining the proportion of each inverter in the microgrid control. This paper proposes a new adaptive method which is robust while the conditions are changing. This controller is based on a modified sliding mode controller which provides adapting conditions in linear and nonlinear loads. The performance of the proposed method is validated by representing the simulation results and experimental lab results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

NASA Astrophysics Data System (ADS)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

NASA Astrophysics Data System (ADS)

Gao, Qing; Liu, Jinguo; Tian, Tongtong; Li, Yangmin

2017-09-01

Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

A new fuzzy sliding mode controller for vibration control systems using integrated-structure smart dampers

NASA Astrophysics Data System (ADS)

Dzung Nguyen, Sy; Kim, Wanho; Park, Jhinha; Choi, Seung-Bok

2017-04-01

Vibration control systems using smart dampers (SmDs) such as magnetorheological and electrorheological dampers (MRD and ERD), which are classified as the integrated structure-SmD control systems (ISSmDCSs), have been actively researched and widely used. This work proposes a new controller for a class of ISSmDCSs in which high accuracy of SmD models as well as increment of control ability to deal with uncertainty and time delay are to be expected. In order to achieve this goal, two formualtion steps are required; a non-parametric SmD model based on an adaptive neuro-fuzzy inference system (ANFIS) and a novel fuzzy sliding mode controller (FSMC) which can weaken the model error of the ISSmDCSs and hence provide enhanced vibration control performances. As for the formulation of the proposed controller, first, an ANFIS controller is desgned to identify SmDs using the improved control algorithm named improved establishing neuro-fuzzy system (establishing neuro-fuzzy system). Second, a new control law for the FSMC is designed via Lyapunov stability analysis. An application to a semi-active MRD vehicle suspension system is then undertaken to illustrate and evaluate the effectiveness of the proposed control method. It is demonstrated through an experimental realization that the FSMC proposed in this work shows superior vibration control performance of the vehicle suspension compared to other surveyed controller which have similar structures to the FSMC, such as fuzzy logic and sliding mode control.

Nonlinear control of voltage source converters in AC-DC power system.

PubMed

Dash, P K; Nayak, N

2014-07-01

This paper presents the design of a robust nonlinear controller for a parallel AC-DC power system using a Lyapunov function-based sliding mode control (LYPSMC) strategy. The inputs for the proposed control scheme are the DC voltage and reactive power errors at the converter station and the active and reactive power errors at the inverter station of the voltage-source converter-based high voltage direct current transmission (VSC-HVDC) link. The stability and robust tracking of the system parameters are ensured by applying the Lyapunov direct method. Also the gains of the sliding mode control (SMC) are made adaptive using the stability conditions of the Lyapunov function. The proposed control strategy offers invariant stability to a class of systems having modeling uncertainties due to parameter changes and exogenous inputs. Comprehensive computer simulations are carried out to verify the proposed control scheme under several system disturbances like changes in short-circuit ratio, converter parametric changes, and faults on the converter and inverter buses for single generating system connected to the power grid in a single machine infinite-bus AC-DC network and also for a 3-machine two-area power system. Furthermore, a second order super twisting sliding mode control scheme has been presented in this paper that provides a higher degree of nonlinearity than the LYPSMC and damps faster the converter and inverter voltage and power oscillations. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Amplitude Noise Reduction of Ion Lasers with Optical Feedback

NASA Technical Reports Server (NTRS)

Herring, Gregory C.

2011-01-01

A reduction in amplitude noise on the output of a multi-mode continuous-wave Ar-ion laser was previously demonstrated when a fraction of the output power was retroreflected back into the laser cavity. This result was reproduced in the present work and a Fabry-Perot etalon was used to monitor the longitudinal mode structure of the laser. A decrease in the number of operating longitudinal cavity modes was observed simultaneously with the introduction of the optical feedback and the onset of the amplitude noise reduction. The noise reduction is a result of a reduced number of lasing modes, resulting in less mode beating and amplitude fluctuations of the laser output power.

Blocked versus randomized presentation modes differentially modulate feedback-related negativity and P3b amplitudes

PubMed Central

Pfabigan, Daniela M.; Zeiler, Michael; Lamm, Claus; Sailer, Uta

2014-01-01

Objective Electrophysiological studies on feedback processing typically use a wide range of feedback stimuli which might not always be comparable. The current study investigated whether two indicators of feedback processing – feedback-related negativity (FRN) and P3b – differ for feedback stimuli with explicit (facial expressions) or assigned valence information (symbols). In addition, we assessed whether presenting feedback in either a trial-by-trial or a block-wise fashion affected these ERPs. Methods EEG was recorded in three experiments while participants performed a time estimation task and received two different types of performance feedback. Results Only P3b amplitudes varied consistently in response to feedback type for both presentation types. Moreover, the blocked feedback type presentation yielded more distinct FRN peaks, higher effect sizes, and a significant relation between FRN amplitudes and behavioral task performance measures. Conclusion Both stimulus type and presentation mode may provoke systematic changes in feedback-related ERPs. The current findings point at important potential confounds that need to be controlled for when designing FRN or P3b studies. Significance Studies investigating P3b amplitudes using mixed types of stimuli have to be interpreted with caution. Furthermore, we suggest implementing a blocked presentation format when presenting different feedback types within the same experiment. PMID:24144779

Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

PubMed

Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

2015-09-01

To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Intelligent shell feedback control in EXTRAP T2R reversed field pinch with partial coverage of the toroidal surface by a discrete active coil array

NASA Astrophysics Data System (ADS)

Yadikin, D.; Brunsell, P. R.; Drake, J. R.

2006-01-01

An active feedback system is required for long pulse operation of the reversed field pinch (RFP) device to suppress resistive wall modes (RWMs). A general feature of a feedback system using a discrete active coil array is a coupling effect which arises when a set of side band modes determined by the number of active coils is produced. Recent results obtained on the EXTRAP T2R RFP demonstrated the suppression of independent m = 1 RWMs using an active feedback system with a two-dimensional array of discrete active coils in the poloidal and toroidal directions. One of the feedback algorithms used is the intelligent shell feedback scheme. Active feedback systems having different number of active coils in the poloidal (Mc) and toroidal (Nc) directions (Mc × Nc = 2 × 32 and Mc × Nc = 4 × 16) are studied. Different side band effects are seen for these configurations. A significant prolongation of the plasma discharge is achieved for the intelligent shell feedback scheme using the 2 × 32 active coil configuration. This is attributed to the side band sets including only one of the dominant unstable RWMs and avoiding coupling to resonant modes. Analog proportional-integral-derivative controllers are used in the feedback system. Regimes with different values of the proportional gain are studied. The requirement of the proportional-integral control for low proportional gain and proportional-derivative control for high proportional gain is seen in the experiments.

Timing and Mode of Landscape Response to Glacial-Interglacial Climate Forcing From Fluvial Fill Terrace Sediments: Humahuaca Basin, E Cordillera, NW Argentina

NASA Astrophysics Data System (ADS)

Schildgen, T. F.; Robinson, R. A. J.; Savi, S.; Bookhagen, B.; Tofelde, S.; Strecker, M. R.

2014-12-01

Numerical modelling informs risk assessment of tsunami generated by submarine slides; however, for large-scale slides modelling can be complex and computationally challenging. Many previous numerical studies have approximated slides as rigid blocks that moved according to prescribed motion. However, wave characteristics are strongly dependent on the motion of the slide and previous work has recommended that more accurate representation of slide dynamics is needed. We have used the finite-element, adaptive-mesh CFD model Fluidity, to perform multi-material simulations of deformable submarine slide-generated waves at real world scales for a 2D scenario in the Gulf of Mexico. Our high-resolution approach represents slide dynamics with good accuracy, compared to other numerical simulations of this scenario, but precludes tracking of wave propagation over large distances. To enable efficient modelling of further propagation of the waves, we investigate an approach to extract information about the slide evolution from our multi-material simulations in order to drive a single-layer wave propagation model, also using Fluidity, which is much less computationally expensive. The extracted submarine slide geometry and position as a function of time are parameterised using simple polynomial functions. The polynomial functions are used to inform a prescribed velocity boundary condition in a single-layer simulation, mimicking the effect the submarine slide motion has on the water column. The approach is verified by successful comparison of wave generation in the single-layer model with that recorded in the multi-material, multi-layer simulations. We then extend this approach to 3D for further validation of this methodology (using the Gulf of Mexico scenario proposed by Horrillo et al., 2013) and to consider the effect of lateral spreading. This methodology is then used to simulate a series of hypothetical submarine slide events in the Arctic Ocean (based on evidence of historic slides) and examine the hazard posed to the UK coast.

Codimension-1 Sliding Bifurcations of a Filippov Pest Growth Model with Threshold Policy

NASA Astrophysics Data System (ADS)

Tang, Sanyi; Tang, Guangyao; Qin, Wenjie

A Filippov system is proposed to describe the stage structured nonsmooth pest growth with threshold policy control (TPC). The TPC measure is represented by the total density of both juveniles and adults being chosen as an index for decisions on when to implement chemical control strategies. The proposed Filippov system can have three pieces of sliding segments and three pseudo-equilibria, which result in rich sliding mode bifurcations and local sliding bifurcations including boundary node (boundary focus, or boundary saddle) and tangency bifurcations. As the threshold density varies the model exhibits the interesting global sliding bifurcations sequentially: touching → buckling → crossing → sliding homoclinic orbit to a pseudo-saddle → crossing → touching bifurcations. In particular, bifurcation of a homoclinic orbit to a pseudo-saddle with a figure of eight shape, to a pseudo-saddle-node or to a standard saddle-node have been observed for some parameter sets. This implies that control outcomes are sensitive to the threshold level, and hence it is crucial to choose the threshold level to initiate control strategy. One more sliding segment (or pseudo-equilibrium) is induced by the total density of a population guided switching policy, compared to only the juvenile density guided policy, implying that this control policy is more effective in terms of preventing multiple pest outbreaks or causing the density of pests to stabilize at a desired level such as an economic threshold.

Dynamical phenomena in fast sliding nanotube models

NASA Astrophysics Data System (ADS)

Zhang, X. H.; Santoro, G. E.; Tartaglino, U.; Tosatti, E.

2013-03-01

The experimentally known fact that coaxial carbon nanotubes can be forced to slide one inside the other stimulated in the past much detailed modelling of the dynamical sliding process. Molecular dynamics simulations of sliding coaxial nanotubes showed the existence of strong frictional peaks when, at large speed, one tube excites the other with a 'washboard' frequency that happens to resonate with some intrinsic vibration frequency. At some of these special speeds we discover a striking example of dynamical symmetry breaking taking place at the nanoscale. Even when both nanotubes are perfectly left-right symmetric and nonchiral, precisely in correspondence with the large peaks of sliding friction occurring at a series of critical sliding velocities, a nonzero angular momentum spontaneously appears. A detailed analysis shows that this internal angular momentum is of phonon origin, in particular arising from preferential excitation of a right polarized (or, with equal probability, of a left polarized) outer-tube 'pseudorotation' mode, thus spontaneously breaking their exact twofold right-left degeneracy. We present and discuss a detailed analysis of nonlinear continuum equations governing this phenomenon, showing the close similarity of this phenomenon with the well-known rotational instability of a forced string, which takes place under sufficiently strong periodic forcing of the string. We also point out new elements appearing in the present problem which are 'nano', in particular the involvement of Umklapp processes and the role of sliding nanofriction.

Multiscale System for Environmentally-Driven Infectious Disease with Threshold Control Strategy

NASA Astrophysics Data System (ADS)

Sun, Xiaodan; Xiao, Yanni

A multiscale system for environmentally-driven infectious disease is proposed, in which control measures at three different scales are implemented when the number of infected hosts exceeds a certain threshold. Our coupled model successfully describes the feedback mechanisms of between-host dynamics on within-host dynamics by employing one-scale variable guided enhancement of interventions on other scales. The modeling approach provides a novel idea of how to link the large-scale dynamics to small-scale dynamics. The dynamic behaviors of the multiscale system on two time-scales, i.e. fast system and slow system, are investigated. The slow system is further simplified to a two-dimensional Filippov system. For the Filippov system, we study the dynamics of its two subsystems (i.e. free-system and control-system), the sliding mode dynamics, the boundary equilibrium bifurcations, as well as the global behaviors. We prove that both subsystems may undergo backward bifurcations and the sliding domain exists. Meanwhile, it is possible that the pseudo-equilibrium exists and is globally stable, or the pseudo-equilibrium, the disease-free equilibrium and the real equilibrium are tri-stable, or the pseudo-equilibrium and the real equilibrium are bi-stable, or the pseudo-equilibrium and disease-free equilibrium are bi-stable, which depends on the threshold value and other parameter values. The global stability of the pseudo-equilibrium reveals that we may maintain the number of infected hosts at a previously given value. Moreover, the bi-stability and tri-stability indicate that whether the number of infected individuals tends to zero or a previously given value or other positive values depends on the parameter values and the initial states of the system. These results highlight the challenges in the control of environmentally-driven infectious disease.

The Types and Effects of Peer Native Speakers' Feedback on CMC

ERIC Educational Resources Information Center

Diez-Bedmar, Maria Belen; Perez-Paredes, Pascual

2012-01-01

Online collaborative writing tasks are frequently undertaken in forums and wikis. Variation between these two communication modes has yet to be examined, particularly type of feedback and its effects. We investigated the type of feedback and the impact of English native-speakers' feedback on Spanish peers' discourse restructuring in the context of…

Robust nonlinear attitude control with disturbance compensation

NASA Astrophysics Data System (ADS)

Walchko, Kevin Jack

Attitude control of small spacecraft is a particularly important component for many missions in the space program: Hubble Space Telescope for observing the cosmos, GPS satellites for navigation, SeaWiFS for studying phytoplankton concentrations in the ocean, etc. Typically designers use proportional derivative control because it is simple to understand and implement. However this method lacks robustness in the presence of disturbances and uncertainties. Thus to improve the fidelity of this simulation, two disturbances were included, fuel slosh and solar snap. Fuel slosh is the unwanted movement of fuel inside of a fuel tank. The fuel slosh model used for the satellite represents each sloshing mode as a mass-spring-damper. The mass represents the wave of fuel that propagates across the tank, the damper represents the baffling that hinders the movement, and the spring represents the force imparted to the spacecraft when the wave impacts the tank wall. This formulation makes the incorporation of multiple modes of interest simple, which is an advance over the typical one sloshing mode, pendulum model. Thermally induce vibrations, or solar snap, occur as a satellite transitions form the day-to-night or night-to-day side of a planet. During this transition, there is a sudden change in the amount of heat flux to the solar panels and vibrations occur. Few authors have looked at the effects of solar snap. The disturbance dynamics were based on the work by Earl Thorten. The simulated effects compared favorably with real flight data taken from satellites that have encountered solar snap. A robust sliding mode controller was developed and compared to a more traditional proportional derivative controller. The controllers were evaluated in the presents of fuel slosh and solar snap. The optimized baseline proportional derivative controller used in this work, showed little effort was needed to obtain better performance using sliding mode. In addition, a colored noise filter was developed to compensate for the fuel sloshing disturbance and incorporated into the sliding mode controller for greater performance increase at the expense of requiring a little more control effort.

Stabilization of self-mode-locked quantum dash lasers by symmetric dual-loop optical feedback

NASA Astrophysics Data System (ADS)

Asghar, Haroon; Wei, Wei; Kumar, Pramod; Sooudi, Ehsan; McInerney, John. G.

2018-02-01

We report experimental studies of the influence of symmetric dual-loop optical feedback on the RF linewidth and timing jitter of self-mode-locked two-section quantum dash lasers emitting at 1550 nm. Various feedback schemes were investigated and optimum levels determined for narrowest RF linewidth and low timing jitter, for single-loop and symmetric dual-loop feedback. Two symmetric dual-loop configurations, with balanced and unbalanced feedback ratios, were studied. We demonstrate that unbalanced symmetric dual loop feedback, with the inner cavity resonant and fine delay tuning of the outer loop, gives narrowest RF linewidth and reduced timing jitter over a wide range of delay, unlike single and balanced symmetric dual-loop configurations. This configuration with feedback lengths 80 and 140 m narrows the RF linewidth by 4-67x and 10-100x, respectively, across the widest delay range, compared to free-running. For symmetric dual-loop feedback, the influence of different power split ratios through the feedback loops was determined. Our results show that symmetric dual-loop feedback is markedly more effective than single-loop feedback in reducing RF linewidth and timing jitter, and is much less sensitive to delay phase, making this technique ideal for applications where robustness and alignment tolerance are essential.

"Discoveries in Planetary Sciences": Slide Sets Highlighting New Advances for Astronomy Educators

NASA Astrophysics Data System (ADS)

Brain, D. A.; Schneider, N. M.; Beyer, R. A.

2010-12-01

Planetary science is a field that evolves rapidly, motivated by spacecraft mission results. Exciting new mission results are generally communicated rather quickly to the public in the form of press releases and news stories, but it can take several years for new advances to work their way into college textbooks. Yet it is important for students to have exposure to these new advances for a number of reasons. In some cases, new work renders older textbook knowledge incorrect or incomplete. In some cases, new discoveries make it possible to emphasize older textbook knowledge in a new way. In all cases, new advances provide exciting and accessible examples of the scientific process in action. To bridge the gap between textbooks and new advances in planetary sciences we have developed content on new discoveries for use by undergraduate instructors. Called 'Discoveries in Planetary Sciences', each new discovery is summarized in a 3-slide PowerPoint presentation. The first slide describes the discovery, the second slide discusses the underlying planetary science concepts, and the third presents the big picture implications of the discovery. A fourth slide includes links to associated press releases, images, and primary sources. This effort is generously sponsored by the Division for Planetary Sciences of the American Astronomical Society, and the slide sets are available at http://dps.aas.org/education/dpsdisc/. Sixteen slide sets have been released so far covering topics spanning all sub-disciplines of planetary science. Results from the following spacecraft missions have been highlighted: MESSENGER, the Spirit and Opportunity rovers, Cassini, LCROSS, EPOXI, Chandrayan, Mars Reconnaissance Orbiter, Mars Express, and Venus Express. Additionally, new results from Earth-orbiting and ground-based observing platforms and programs such as Hubble, Keck, IRTF, the Catalina Sky Survey, HARPS, MEarth, Spitzer, and amateur astronomers have been highlighted. 4-5 new slide sets are scheduled for release before December 2010. In this presentation we will discuss our motivation for this project, our implementation approach (from choosing topics to creating the slide sets, to getting them reviewed and released), and give examples of slide sets. We will present information in the form of web statistics on how many educators are using the slide sets, and which topics are most popular. We will also present feedback from educators who have used them in the classroom, and possible new directions for our activity.

\\mathscr{H}_2 optimal control techniques for resistive wall mode feedback in tokamaks

NASA Astrophysics Data System (ADS)

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; Navratil, Gerald

2018-04-01

DIII-D experiments show that a new, advanced algorithm enables resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic flux diffusion time of the vacuum vessel wall. Experiments have shown that modern control techniques like linear quadratic Gaussian (LQG) control require less current than the proportional controller in use at DIII-D when using control coils external to DIII-D’s vacuum vessel. Experiments were conducted to develop control of a rotating n  =  1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high βN experiments also show that advanced feedback techniques using external control coils may be as effective as internal control coil feedback using classical control techniques.

Bending patterns of chlamydomonas flagella: III. A radial spoke head deficient mutant and a central pair deficient mutant.

PubMed

Brokaw, C J; Luck, D J

1985-01-01

Flash photomicrography at frequencies up to 300 Hz and computer-assisted image analysis have been used to obtain parameters describing the flagellar bending patterns of mutants of Chlamydomonas reinhardtii. All strains contained the uni1 mutation, to facilitate photography. The radial spoke head deficient mutant pf17, and the central pair deficient mutant, pf15, in combination with suppressor mutations that restore motility without restoring the ultrastructural or biochemical deficiencies, both generate forward mode bending patterns with increased shear amplitude and decreased asymmetry relative to the "wild-type" uni1 flagella described previously. In the reverse beating mode, the suppressed pf17 mutants generate reverse bending patterns with large shear amplitudes. Reverse beating of the suppressed pf15 mutants is rare. There is a reciprocal relationship between increased shear amplitude and decreased beat frequency, so that the velocity of sliding between flagellar microtubules is not increased by an increase in shear amplitude. The suppressor mutations alone cause decreased frequency and sliding velocity in both forward and reverse mode beating, with little change in shear amplitude or symmetry.

Modeling and sliding mode predictive control of the ultra-supercritical boiler-turbine system with uncertainties and input constraints.

PubMed

Tian, Zhen; Yuan, Jingqi; Zhang, Xiang; Kong, Lei; Wang, Jingcheng

2018-05-01

The coordinated control system (CCS) serves as an important role in load regulation, efficiency optimization and pollutant reduction for coal-fired power plants. The CCS faces with tough challenges, such as the wide-range load variation, various uncertainties and constraints. This paper aims to improve the load tacking ability and robustness for boiler-turbine units under wide-range operation. To capture the key dynamics of the ultra-supercritical boiler-turbine system, a nonlinear control-oriented model is developed based on mechanism analysis and model reduction techniques, which is validated with the history operation data of a real 1000 MW unit. To simultaneously address the issues of uncertainties and input constraints, a discrete-time sliding mode predictive controller (SMPC) is designed with the dual-mode control law. Moreover, the input-to-state stability and robustness of the closed-loop system are proved. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves good tracking performance, disturbance rejection ability and compatibility to input constraints. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Improvement of time-delayed feedback control by periodic modulation: analytical theory of Floquet mode control scheme.

PubMed

Just, Wolfram; Popovich, Svitlana; Amann, Andreas; Baba, Nilüfer; Schöll, Eckehard

2003-02-01

We investigate time-delayed feedback control schemes which are based on the unstable modes of the target state, to stabilize unstable periodic orbits. The periodic time dependence of these modes introduces an external time scale in the control process. Phase shifts that develop between these modes and the controlled periodic orbit may lead to a huge increase of the control performance. We illustrate such a feature on a nonlinear reaction diffusion system with global coupling and give a detailed investigation for the Rössler model. In addition we provide the analytical explanation for the observed control features.

A review of active control approaches in stabilizing combustion systems in aerospace industry

NASA Astrophysics Data System (ADS)

Zhao, Dan; Lu, Zhengli; Zhao, He; Li, X. Y.; Wang, Bing; Liu, Peijin

2018-02-01

Self-sustained combustion instabilities are one of the most plaguing challenges and problems in lean-conditioned propulsion and land-based engine systems, such as rocket motors, gas turbines, industrial furnace and boilers, and turbo-jet thrust augmenters. Either passive or active control in open- or closed-loop configurations can be implemented to mitigate such instabilities. One of the classical disadvantages of passive control is that it is only implementable to a designed combustor over a limited frequency range and can not respond to the changes in operating conditions. Compared with passive control approaches, active control, especially in closed-loop configuration is more adaptive and has inherent capacity to be implemented in practice. The key components in closed-loop active control are 1) sensor, 2) controller (optimization algorithm) and 3) dynamic actuator. The present work is to outline the current status, technical challenges and development progress of the active control approaches (in open- or closed-loop configurations). A brief description of feedback control, adaptive control, model-based control and sliding mode control are provided first by introducing a simplified Rijke-type combustion system. The modelled combustion system provides an invaluable platform to evaluate the performance of these feedback controllers and a transient growth controller. The performance of these controllers are compared and discussed. An outline of theoretical, numerical and experimental investigations are then provided to overview the research and development progress made during the last 4 decades. Finally, potential, challenges and issues involved with the design, application and implementation of active combustion control strategies on a practical engine system are highlighted.

Tribotronic Tuning Diode for Active Analog Signal Modulation.

PubMed

Zhou, Tao; Yang, Zhi Wei; Pang, Yaokun; Xu, Liang; Zhang, Chi; Wang, Zhong Lin

2017-01-24

Realizing active interaction with external environment/stimuli is a great challenge for current electronics. In this paper, a tribotronic tuning diode (TTD) is proposed by coupling a variable capacitance diode and a triboelectric nanogenerator in free-standing sliding mode. When the friction layer is sliding on the device surface for electrification, a reverse bias voltage is created and applied to the diode for tuning the junction capacitance. When the sliding distance increases from 0 to 25 mm, the capacitance of the TTD decreases from about 39 to 8 pF. The proposed TTD has been integrated into analog circuits and exhibited excellent performances in frequency modulation, phase shift, and filtering by sliding a finger. This work has demonstrated tunable diode and active analog signal modulation by tribotronics, which has great potential to replace ordinary variable capacitance diodes in various practical applications such as signal processing, electronic tuning circuits, precise tuning circuits, active sensor networks, electronic communications, remote controls, flexible electronics, etc.

Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

NASA Astrophysics Data System (ADS)

Huang, Shiuh-Jer; Chen, Hung-Yi

In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

Noise destroys feedback enhanced figure-ground segmentation but not feedforward figure-ground segmentation.

PubMed

Romeo, August; Arall, Marina; Supèr, Hans

2012-01-01

Figure-ground (FG) segmentation is the separation of visual information into background and foreground objects. In the visual cortex, FG responses are observed in the late stimulus response period, when neurons fire in tonic mode, and are accompanied by a switch in cortical state. When such a switch does not occur, FG segmentation fails. Currently, it is not known what happens in the brain on such occasions. A biologically plausible feedforward spiking neuron model was previously devised that performed FG segmentation successfully. After incorporating feedback the FG signal was enhanced, which was accompanied by a change in spiking regime. In a feedforward model neurons respond in a bursting mode whereas in the feedback model neurons fired in tonic mode. It is known that bursts can overcome noise, while tonic firing appears to be much more sensitive to noise. In the present study, we try to elucidate how the presence of noise can impair FG segmentation, and to what extent the feedforward and feedback pathways can overcome noise. We show that noise specifically destroys the feedback enhanced FG segmentation and leaves the feedforward FG segmentation largely intact. Our results predict that noise produces failure in FG perception.

Noise destroys feedback enhanced figure-ground segmentation but not feedforward figure-ground segmentation

PubMed Central

Romeo, August; Arall, Marina; Supèr, Hans

2012-01-01

Figure-ground (FG) segmentation is the separation of visual information into background and foreground objects. In the visual cortex, FG responses are observed in the late stimulus response period, when neurons fire in tonic mode, and are accompanied by a switch in cortical state. When such a switch does not occur, FG segmentation fails. Currently, it is not known what happens in the brain on such occasions. A biologically plausible feedforward spiking neuron model was previously devised that performed FG segmentation successfully. After incorporating feedback the FG signal was enhanced, which was accompanied by a change in spiking regime. In a feedforward model neurons respond in a bursting mode whereas in the feedback model neurons fired in tonic mode. It is known that bursts can overcome noise, while tonic firing appears to be much more sensitive to noise. In the present study, we try to elucidate how the presence of noise can impair FG segmentation, and to what extent the feedforward and feedback pathways can overcome noise. We show that noise specifically destroys the feedback enhanced FG segmentation and leaves the feedforward FG segmentation largely intact. Our results predict that noise produces failure in FG perception. PMID:22934028

Reduced-order dynamic output feedback control of uncertain discrete-time Markov jump linear systems

NASA Astrophysics Data System (ADS)

Morais, Cecília F.; Braga, Márcio F.; Oliveira, Ricardo C. L. F.; Peres, Pedro L. D.

2017-11-01

This paper deals with the problem of designing reduced-order robust dynamic output feedback controllers for discrete-time Markov jump linear systems (MJLS) with polytopic state space matrices and uncertain transition probabilities. Starting from a full order, mode-dependent and polynomially parameter-dependent dynamic output feedback controller, sufficient linear matrix inequality based conditions are provided for the existence of a robust reduced-order dynamic output feedback stabilising controller with complete, partial or none mode dependency assuring an upper bound to the ? or the ? norm of the closed-loop system. The main advantage of the proposed method when compared to the existing approaches is the fact that the dynamic controllers are exclusively expressed in terms of the decision variables of the problem. In other words, the matrices that define the controller realisation do not depend explicitly on the state space matrices associated with the modes of the MJLS. As a consequence, the method is specially suitable to handle order reduction or cluster availability constraints in the context of ? or ? dynamic output feedback control of discrete-time MJLS. Additionally, as illustrated by means of numerical examples, the proposed approach can provide less conservative results than other conditions in the literature.

A quality control study on cytotechnologist-cytopathologist concordance and its relationship to the number of dots on the slide.

PubMed

Bongiovanni, Massimo; De Saussure, Barbara; Kumar, Neeta; Pache, Jean-Claude; Cibas, Edmund S

2009-01-01

To study cytotechnologist (CT)-cytopathologist (CP) concordance for evaluating individual CTs' performance and for quality assurance and educational feedback. The interpretations of individual CTs were compared with the final interpretations (according to the 2001 Bethesda System) of the CP. Concordance percentages and kappa values were calculated for each CT and correlated with the numbers of dots on each slide, years of experience and percentage of work hours devoted to cytology. A total of 10,453 Pap tests were screened by 9 CTs during one year, out of which 993 (9.5%) were referred to one CP for a final interpretation. Mean concordance between the aggregate CT interpretations and those of the CP was 65.5%. Five CTs had good concordance, 3 had moderately good concordance, and one had surprisingly poor concordance that contrasted with good subjective impressions. No correlation was found between concordance and the average number of dots per slide, screening experience in cervicovaginal cytology or percentage of work hours devoted to cytology. Monitoring CT-CP concordance rates can unveil performance issues not detected by subjective impressions. An excessive number of dots per slide may not reflect poor diagnostic precision so much as a lack of confidence in interpretation.

Learning pathology using collaborative vs. individual annotation of whole slide images: a mixed methods trial.

PubMed

Sahota, Michael; Leung, Betty; Dowdell, Stephanie; Velan, Gary M

2016-12-12

Students in biomedical disciplines require understanding of normal and abnormal microscopic appearances of human tissues (histology and histopathology). For this purpose, practical classes in these disciplines typically use virtual microscopy, viewing digitised whole slide images in web browsers. To enhance engagement, tools have been developed to enable individual or collaborative annotation of whole slide images within web browsers. To date, there have been no studies that have critically compared the impact on learning of individual and collaborative annotations on whole slide images. Junior and senior students engaged in Pathology practical classes within Medical Science and Medicine programs participated in cross-over trials of individual and collaborative annotation activities. Students' understanding of microscopic morphology was compared using timed online quizzes, while students' perceptions of learning were evaluated using an online questionnaire. For senior medical students, collaborative annotation of whole slide images was superior for understanding key microscopic features when compared to individual annotation; whilst being at least equivalent to individual annotation for junior medical science students. Across cohorts, students agreed that the annotation activities provided a user-friendly learning environment that met their flexible learning needs, improved efficiency, provided useful feedback, and helped them to set learning priorities. Importantly, these activities were also perceived to enhance motivation and improve understanding. Collaborative annotation improves understanding of microscopic morphology for students with sufficient background understanding of the discipline. These findings have implications for the deployment of annotation activities in biomedical curricula, and potentially for postgraduate training in Anatomical Pathology.

Microsoft PowerPoint - Walter Coke Comm May 19 Karen correction presentation [Compatibility Mode

EPA Pesticide Factsheets

Contains slides from a presentation to Collegeville, Harriman Park, and Fairmont neighborhoods in North Birmingham, Alabama updating the community on the environmental sampling and next steps on the Walter Coke cleanup site.

Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

NASA Astrophysics Data System (ADS)

Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

PubMed

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-12-28

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

A Traction Control Strategy with an Efficiency Model in a Distributed Driving Electric Vehicle

PubMed Central

Lin, Cheng

2014-01-01

Both active safety and fuel economy are important issues for vehicles. This paper focuses on a traction control strategy with an efficiency model in a distributed driving electric vehicle. In emergency situation, a sliding mode control algorithm was employed to achieve antislip control through keeping the wheels' slip ratios below 20%. For general longitudinal driving cases, an efficiency model aiming at improving the fuel economy was built through an offline optimization stream within the two-dimensional design space composed of the acceleration pedal signal and the vehicle speed. The sliding mode control strategy for the joint roads and the efficiency model for the typical drive cycles were simulated. Simulation results show that the proposed driving control approach has the potential to apply to different road surfaces. It keeps the wheels' slip ratios within the stable zone and improves the fuel economy on the premise of tracking the driver's intention. PMID:25197697

A traction control strategy with an efficiency model in a distributed driving electric vehicle.

PubMed

Lin, Cheng; Cheng, Xingqun

2014-01-01

Both active safety and fuel economy are important issues for vehicles. This paper focuses on a traction control strategy with an efficiency model in a distributed driving electric vehicle. In emergency situation, a sliding mode control algorithm was employed to achieve antislip control through keeping the wheels' slip ratios below 20%. For general longitudinal driving cases, an efficiency model aiming at improving the fuel economy was built through an offline optimization stream within the two-dimensional design space composed of the acceleration pedal signal and the vehicle speed. The sliding mode control strategy for the joint roads and the efficiency model for the typical drive cycles were simulated. Simulation results show that the proposed driving control approach has the potential to apply to different road surfaces. It keeps the wheels' slip ratios within the stable zone and improves the fuel economy on the premise of tracking the driver's intention.

Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer.

PubMed

Ren, Jun-Jie; Liu, Yan-Cheng; Wang, Ning; Liu, Si-Yuan

2015-01-01

This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers.

PubMed

Shen, Qikun; Shi, Peng; Shi, Yan

2016-12-01

In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

NASA Technical Reports Server (NTRS)

Crassidis, John L.; Vadali, Srinivas R.; Markley, F. Landis

1999-01-01

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems.

PubMed

Han, Yaozhen; Liu, Xiangjie

2016-05-01

This paper presents a continuous higher-order sliding mode (HOSM) control scheme with time-varying gain for a class of uncertain nonlinear systems. The proposed controller is derived from the concept of geometric homogeneity and super-twisting algorithm, and includes two parts, the first part of which achieves smooth finite time stabilization of pure integrator chains. The second part conquers the twice differentiable uncertainty and realizes system robustness by employing super-twisting algorithm. Particularly, time-varying switching control gain is constructed to reduce the switching control action magnitude to the minimum possible value while keeping the property of finite time convergence. Examples concerning the perturbed triple integrator chains and excitation control for single-machine infinite bus power system are simulated respectively to demonstrate the effectiveness and applicability of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilization and synchronization for a mechanical system via adaptive sliding mode control.

PubMed

Song, Zhankui; Sun, Kaibiao; Ling, Shuai

2017-05-01

In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique. Adaptation updating algorithms are derived in the sense of Lyapunov stability analysis such that the lumped disturbances can be suppressed and the adverse effect caused by uncertainty parameters can be compensated. In addition, the synchronization tracking-errors are proven to converge to a small neighborhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust control of electrostatic torsional micromirrors using adaptive sliding-mode control

NASA Astrophysics Data System (ADS)

Sane, Harshad S.; Yazdi, Navid; Mastrangelo, Carlos H.

2005-01-01

This paper presents high-resolution control of torsional electrostatic micromirrors beyond their inherent pull-in instability using robust sliding-mode control (SMC). The objectives of this paper are two-fold - firstly, to demonstrate the applicability of SMC for MEMS devices; secondly - to present a modified SMC algorithm that yields improved control accuracy. SMC enables compact realization of a robust controller tolerant of device characteristic variations and nonlinearities. Robustness of the control loop is demonstrated through extensive simulations and measurements on MEMS with a wide range in their characteristics. Control of two-axis gimbaled micromirrors beyond their pull-in instability with overall 10-bit pointing accuracy is confirmed experimentally. In addition, this paper presents an analysis of the sources of errors in discrete-time implementation of the control algorithm. To minimize these errors, we present an adaptive version of the SMC algorithm that yields substantial performance improvement without considerably increasing implementation complexity.

Sliding mode control of dissolved oxygen in an integrated nitrogen removal process in a sequencing batch reactor (SBR).

PubMed

Muñoz, C; Young, H; Antileo, C; Bornhardt, C

2009-01-01

This paper presents a sliding mode controller (SMC) for dissolved oxygen (DO) in an integrated nitrogen removal process carried out in a suspended biomass sequencing batch reactor (SBR). The SMC performance was compared against an auto-tuning PI controller with parameters adjusted at the beginning of the batch cycle. A method for cancelling the slow DO sensor dynamics was implemented by using a first order model of the sensor. Tests in a lab-scale reactor showed that the SMC offers a better disturbance rejection capability than the auto-tuning PI controller, furthermore providing reasonable performance in a wide range of operation. Thus, SMC becomes an effective robust nonlinear tool to the DO control in this process, being also simple from a computational point of view, allowing its implementation in devices such as industrial programmable logic controllers (PLCs).

Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya

2016-08-15

The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally,more » a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.« less

Probabilistic safety analysis of earth retaining structures during earthquakes

NASA Astrophysics Data System (ADS)

Grivas, D. A.; Souflis, C.

1982-07-01

A procedure is presented for determining the probability of failure of Earth retaining structures under static or seismic conditions. Four possible modes of failure (overturning, base sliding, bearing capacity, and overall sliding) are examined and their combined effect is evaluated with the aid of combinatorial analysis. The probability of failure is shown to be a more adequate measure of safety than the customary factor of safety. As Earth retaining structures may fail in four distinct modes, a system analysis can provide a single estimate for the possibility of failure. A Bayesian formulation of the safety retaining walls is found to provide an improved measure for the predicted probability of failure under seismic loading. The presented Bayesian analysis can account for the damage incurred to a retaining wall during an earthquake to provide an improved estimate for its probability of failure during future seismic events.

High-order sliding-mode control for blood glucose regulation in the presence of uncertain dynamics.

PubMed

Hernández, Ana Gabriela Gallardo; Fridman, Leonid; Leder, Ron; Andrade, Sergio Islas; Monsalve, Cristina Revilla; Shtessel, Yuri; Levant, Arie

2011-01-01

The success of blood glucose automatic regulation depends on the robustness of the control algorithm used. It is a difficult task to perform due to the complexity of the glucose-insulin regulation system. The variety of model existing reflects the great amount of phenomena involved in the process, and the inter-patient variability of the parameters represent another challenge. In this research a High-Order Sliding-Mode Control is proposed. It is applied to two well known models, Bergman Minimal Model, and Sorensen Model, to test its robustness with respect to uncertain dynamics, and patients' parameter variability. The controller designed based on the simulations is tested with the specific Bergman Minimal Model of a diabetic patient whose parameters were identified from an in vivo assay. To minimize the insulin infusion rate, and avoid the hypoglycemia risk, the glucose target is a dynamical profile.

Blocked versus randomized presentation modes differentially modulate feedback-related negativity and P3b amplitudes.

PubMed

Pfabigan, Daniela M; Zeiler, Michael; Lamm, Claus; Sailer, Uta

2014-04-01

Electrophysiological studies on feedback processing typically use a wide range of feedback stimuli which might not always be comparable. The current study investigated whether two indicators of feedback processing - feedback-related negativity (FRN) and P3b - differ for feedback stimuli with explicit (facial expressions) or assigned valence information (symbols). In addition, we assessed whether presenting feedback in either a trial-by-trial or a block-wise fashion affected these ERPs. EEG was recorded in three experiments while participants performed a time estimation task and received two different types of performance feedback. Only P3b amplitudes varied consistently in response to feedback type for both presentation types. Moreover, the blocked feedback type presentation yielded more distinct FRN peaks, higher effect sizes, and a significant relation between FRN amplitudes and behavioral task performance measures. Both stimulus type and presentation mode may provoke systematic changes in feedback-related ERPs. The current findings point at important potential confounds that need to be controlled for when designing FRN or P3b studies. Studies investigating P3b amplitudes using mixed types of stimuli have to be interpreted with caution. Furthermore, we suggest implementing a blocked presentation format when presenting different feedback types within the same experiment. Copyright © 2013 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

Dynamic Sliding Analysis of a Gravity Dam with Fluid-Structure-Foundation Interaction Using Finite Elements and Newmark's Sliding Block Analysis

NASA Astrophysics Data System (ADS)

Goldgruber, Markus; Shahriari, Shervin; Zenz, Gerald

2015-11-01

To reduce the natural hazard risks—due to, e.g., earthquake excitation—seismic safety assessments are carried out. Especially under severe loading, due to maximum credible or the so-called safety evaluation earthquake, critical infrastructure, as these are high dams, must not fail. However, under high loading local failure might be allowed as long as the entire structure does not collapse. Hence, for a dam, the loss of sliding stability during a short time period might be acceptable if the cumulative displacements after an event are below an acceptable value. This performance is not only valid for gravity dams but also for rock blocks as sliding is even more imminent in zones with higher seismic activity. Sliding modes cannot only occur in the dam-foundation contact, but also in sliding planes formed due to geological conditions. This work compares the qualitative possible and critical displacements for two methods, the well-known Newmark's sliding block analysis and a Fluid-Foundation-Structure Interaction simulation with the finite elements method. The results comparison of the maximum displacements at the end of the seismic event of the two methods depicts that for high friction angles, they are fairly close. For low friction angles, the results are differing more. The conclusion is that the commonly used Newmark's sliding block analysis and the finite elements simulation are only comparable for high friction angles, where this factor dominates the behaviour of the structure. Worth to mention is that the proposed simulation methods are also applicable to dynamic rock wedge problems and not only to dams.

Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads

NASA Astrophysics Data System (ADS)

Tryfonidis, Michail

It has been observed that during orbital spaceflight the absence of gravitation related sensory inputs causes incongruence between the expected and the actual sensory feedback resulting from voluntary movements. This incongruence results in a reinterpretation or neglect of gravity-induced sensory input signals. Over time, new internal models develop, gradually compensating for the loss of spatial reference. The study of adaptation of goal-directed movements is the main focus of this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took place onboard the space station Mir. Experiments also took place at the Biomechanics lab at MIT, where the subjects performed a series of continuous trajectory tracking movements while a planar robotic manipulandum exerted external torques on the subjects' moving arms. The experimental hypothesis for both experiments is that during the first few trials the subjects will perform poorly trying to follow a prescribed trajectory, or trying to hit a target. A theoretical framework is developed that is a modification of the sliding control method used in robotics. The new control framework is an attempt to explain the adaptive behavior of the subjects. Numerical simulations of the proposed framework are compared with experimental results and predictions from competitive models. The proposed control methodology extends the results of the sliding mode theory to human motor control. The resulting adaptive control model of the motor system is robust to external dynamics, even those of negative gain, uses only position and velocity feedback, and achieves bounded steady-state error without explicit knowledge of the system's nonlinearities. In addition, the experimental and modeling results demonstrate that visuomotor learning is important not only for error correction through internal model adaptation on ground or in microgravity, but also for the minimization of the total mean-square error in the presence of random variability. Thus human intelligent decision displays certain attributes that seem to conform to Bayesian statistical games. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)

Feedback control of flow vorticity at low Reynolds numbers.

PubMed

Zeitz, Maria; Gurevich, Pavel; Stark, Holger

2015-03-01

Our aim is to explore strategies of feedback control to design and stabilize novel dynamic flow patterns in model systems of complex fluids. To introduce the control strategies, we investigate the simple Newtonian fluid at low Reynolds number in a circular geometry. Then, the fluid vorticity satisfies a diffusion equation. We determine the mean vorticity in the sensing area and use two control strategies to feed it back into the system by controlling the angular velocity of the circular boundary. Hysteretic feedback control generates self-regulated stable oscillations in time, the frequency of which can be adjusted over several orders of magnitude by tuning the relevant feedback parameters. Time-delayed feedback control initiates unstable vorticity modes for sufficiently large feedback strength. For increasing delay time, we first observe oscillations with beats and then regular trains of narrow pulses. Close to the transition line between the resting fluid and the unstable modes, these patterns are relatively stable over long times.

A fault-tolerant strategy based on SMC for current-controlled converters

NASA Astrophysics Data System (ADS)

Azer, Peter M.; Marei, Mostafa I.; Sattar, Ahmed A.

2018-05-01

The sliding mode control (SMC) is used to control variable structure systems such as power electronics converters. This paper presents a fault-tolerant strategy based on the SMC for current-controlled AC-DC converters. The proposed SMC is based on three sliding surfaces for the three legs of the AC-DC converter. Two sliding surfaces are assigned to control the phase currents since the input three-phase currents are balanced. Hence, the third sliding surface is considered as an extra degree of freedom which is utilised to control the neutral voltage. This action is utilised to enhance the performance of the converter during open-switch faults. The proposed fault-tolerant strategy is based on allocating the sliding surface of the faulty leg to control the neutral voltage. Consequently, the current waveform is improved. The behaviour of the current-controlled converter during different types of open-switch faults is analysed. Double switch faults include three cases: two upper switch fault; upper and lower switch fault at different legs; and two switches of the same leg. The dynamic performance of the proposed system is evaluated during healthy and open-switch fault operations. Simulation results exhibit the various merits of the proposed SMC-based fault-tolerant strategy.

Closed-loop control of a fragile network: application to seizure-like dynamics of an epilepsy model

PubMed Central

Ehrens, Daniel; Sritharan, Duluxan; Sarma, Sridevi V.

2015-01-01

It has recently been proposed that the epileptic cortex is fragile in the sense that seizures manifest through small perturbations in the synaptic connections that render the entire cortical network unstable. Closed-loop therapy could therefore entail detecting when the network goes unstable, and then stimulating with an exogenous current to stabilize the network. In this study, a non-linear stochastic model of a neuronal network was used to simulate both seizure and non-seizure activity. In particular, synaptic weights between neurons were chosen such that the network's fixed point is stable during non-seizure periods, and a subset of these connections (the most fragile) were perturbed to make the same fixed point unstable to model seizure events; and, the model randomly transitions between these two modes. The goal of this study was to measure spike train observations from this epileptic network and then apply a feedback controller that (i) detects when the network goes unstable, and then (ii) applies a state-feedback gain control input to the network to stabilize it. The stability detector is based on a 2-state (stable, unstable) hidden Markov model (HMM) of the network, and detects the transition from the stable mode to the unstable mode from using the firing rate of the most fragile node in the network (which is the output of the HMM). When the unstable mode is detected, a state-feedback gain is applied to generate a control input to the fragile node bringing the network back to the stable mode. Finally, when the network is detected as stable again, the feedback control input is switched off. High performance was achieved for the stability detector, and feedback control suppressed seizures within 2 s after onset. PMID:25784851

Natural Characteristics of The Herringbone Gear Transmission System

NASA Astrophysics Data System (ADS)

Zhou, Jianxing; Sun, Wenlei; Cao, Li

2018-03-01

According to the structure characteristics of herringbone gear transmission, a more realistic dynamic model of the transmission system is built in consideration of the inner excitation, herringbone gears axial positioning and sliding bearing etc. The natural frequencies of the system are calculated, and the vibration mode is divided into symmetric vibration modes and asymmetric vibration modes. The time history of system dynamic force is obtained by solving the dynamic model. The effects of the connection stiffness of left and right sides of herringbone gears and axial support stiffness on natural characteristics are discussed.

Mechanical energy absorber

NASA Technical Reports Server (NTRS)

Wesselski, Clarence J. (Inventor)

1993-01-01

An energy absorbing system for controlling the force where a moving object engages a stationary stop and where the system utilized telescopic tubular members, energy absorbing diaphragm elements, force regulating disc springs, and a return spring to return the telescoping member to its start position after stroking is presented. The energy absorbing system has frusto-conical diaphragm elements frictionally engaging the shaft and are opposed by a force regulating set of disc springs. In principle, this force feedback mechanism serves to keep the stroking load at a reasonable level even if the friction coefficient increases greatly. This force feedback device also serves to desensitize the singular and combined effects of manufacturing tolerances, sliding surface wear, temperature changes, dynamic effects, and lubricity.

Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

NASA Astrophysics Data System (ADS)

Cao, Zhengcai; Yin, Longjie; Fu, Yili

2013-01-01

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm

NASA Astrophysics Data System (ADS)

Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

2016-05-01

In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated model. According to the characteristics of the linear vibratory feeder, the complex control problem of the under actuated electromechanical coupling model converts to phase and speed synchronization control of four ERs. In order to keep the four ERs operating synchronously with zero phase differences, phase and speed synchronization controllers are designed by employing adaptive sliding mode control (ASMC) algorithm via a modified master-slave structure. The stability of the controllers is proved by Lyapunov stability theorem. The proposed controllers are verified by simulation via Matlab/Simulink program and compared with the conventional sliding mode control (SMC) algorithm. The results show the proposed controllers can reject the time-varying load torques effectively and four ERs can operate synchronously with zero phase differences. Moreover, the control performance is better than the conventional SMC algorithm and the chattering phenomenon is attenuated. Furthermore, the effects of reference speed and parametric perturbations are discussed to show the strong robustness of the proposed controllers. Finally, experiments on a simple vibratory test bench are operated by using the proposed controllers and without control, respectively, to validate the effectiveness of the proposed controllers further.

Through-wafer interrogation of microstructure motion for MEMS feedback control

NASA Astrophysics Data System (ADS)

Dawson, Jeremy M.; Chen, Jingdong; Brown, Kolin S.; Famouri, Parviz F.; Hornak, Lawrence A.

1999-09-01

Closed-loop MEMS control enables mechanical microsystems to adapt to the demands of the environment which they are actuating opening a new window of opportunity for future MEMS applications. Planar diffractive optical microsystems have the potential to enable the integrated optical interrogation of MEMS microstructure position fully decoupled from the means of mechanical actuation which is central to realization of feedback control. This paper presents the results of initial research evaluating through-wafer optical microsystems for MEMS integrated optical monitoring. Positional monitoring results obtained from a 1.3 micrometer wavelength through- wafer free-space optical probe of a lateral comb resonator fabricated using the Multi-User MEMS Process Service (MUMPS) are presented. Given the availability of positional information via probe signal feedback, a simulation of the application of nonlinear sliding control is presented illustrating position control of the lateral comb resonator structure.

Monolithic dual-mode distributed feedback semiconductor laser for tunable continuous-wave terahertz generation.

PubMed

Kim, Namje; Shin, Jaeheon; Sim, Eundeok; Lee, Chul Wook; Yee, Dae-Su; Jeon, Min Yong; Jang, Yudong; Park, Kyung Hyun

2009-08-03

We report on a monolithic dual-mode semiconductor laser operating in the 1550-nm range as a compact optical beat source for tunable continuous-wave (CW) terahertz (THz) generation. It consists of two distributed feedback (DFB) laser sections and one phase section between them. Each wavelength of the two modes can be independently tuned by adjusting currents in micro-heaters which are fabricated on the top of the each DFB section. The continuous tuning of the CW THz emission from Fe(+)-implanted InGaAs photomixers is successfully demonstrated using our dual-mode laser as the excitation source. The CW THz frequency is continuously tuned from 0.17 to 0.49 THz.

Finite-time robust control of uncertain fractional-order Hopfield neural networks via sliding mode control

NASA Astrophysics Data System (ADS)

Xi, Yangui; Yu, Yongguang; Zhang, Shuo; Hai, Xudong

2018-01-01

Not Available Project supported by the National Natural Science Foundation of China (Grant Nos. 11371049 and 61772063) and the Fundamental Research Funds for the Central Universities, China (Grant No. 2016JBM070).

Educators' Perceptions of Automated Feedback Systems

ERIC Educational Resources Information Center

Debuse, Justin C. W.; Lawley, Meredith; Shibl, Rania

2008-01-01

Assessment of student learning is a core function of educators. Ideally students should be provided with timely, constructive feedback to facilitate learning. However, provision of high quality feedback becomes more complex as class sizes increase, modes of study expand and academic workloads increase. ICT solutions are being developed to…

Buckling of a Flexible Strip Sliding on a Frictional Base

NASA Astrophysics Data System (ADS)

Huynen, Alexandre; Marck, Julien; Denoel, Vincent; Detournay, Emmanuel

2013-03-01

The main motivation for this contribution is the buckling of a drillstring sliding on the bottom of the horizontal section of borehole. The open questions that remain today are related to the determination of the onset of instability, and to the conditions under which different modes of constrained buckling occur. In this presentation, we are concerned by a two-dimensional version of this problem; namely, the sliding of a flexible strip being fed inside a conduit. The ribbon, which has a flexural rigidity EI and a weight per unit length w, is treated as an inextensible elastica of negligible thickness. The contact between the ribbon and the wall of the conduit is characterized by a friction coefficient μ. First, we report the result of a stability analysis that aims at determining the critical inserted length of the ribbon l* (μ) (scaled by the characteristic length λ =(EI / w) 1 / 3) at which there is separation between the strip and the conduit bottom, as well as the buckling mode. Next, the relationship between the feeding force F and the inserted length l after bifurcation is computed. Finally, the results of a ``kitchen table'' experiment involving a strip of silicon rubber being pushed on a plank are reported and compared with predictions.

Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems.

PubMed

Boukattaya, Mohamed; Mezghani, Neila; Damak, Tarak

2018-06-01

In this paper, robust and adaptive nonsingular fast terminal sliding-mode (NFTSM) control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system uncertainty and external disturbances. The developed controllers take the advantage of the NFTSM theory to ensure fast convergence rate, singularity avoidance, and robustness against uncertainties and external disturbances. First, a robust NFTSM controller is proposed which guarantees that sliding surface and equilibrium point can be reached in a short finite-time from any initial state. Then, in order to cope with the unknown upper bound of the system uncertainty which may be occurring in practical applications, a new adaptive NFTSM algorithm is developed. One feature of the proposed control law is their adaptation techniques where the prior knowledge of parameters uncertainty and disturbances is not needed. However, the adaptive tuning law can estimate the upper bound of these uncertainties using only position and velocity measurements. Moreover, the proposed controller eliminates the chattering effect without losing the robustness property and the precision. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed control schemes. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2006-01-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least-square method with exponential forgetting factor and covariance resetting is used to identify (experimentally determine) the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time-dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

Adaptive Optimal Stochastic State Feedback Control of Resistive Wall Modes in Tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2007-06-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least square method with exponential forgetting factor and covariance resetting is used to identify the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

Annular modes and apparent eddy feedbacks in the Southern Hemisphere

NASA Astrophysics Data System (ADS)

Byrne, Nicholas J.; Shepherd, Theodore G.; Woollings, Tim; Plumb, R. Alan

2016-04-01

Lagged correlation analysis is often used to infer intraseasonal dynamical effects but is known to be affected by nonstationarity. We highlight a pronounced quasi 2 year peak in the anomalous zonal wind and eddy momentum flux convergence power spectra in the Southern Hemisphere, which is prima facie evidence for nonstationarity. We then investigate the consequences of this nonstationarity for the Southern Annular Mode and for eddy momentum flux convergence. We argue that positive lagged correlations previously attributed to the existence of an eddy feedback are more plausibly attributed to nonstationary interannual variability external to any potential feedback process in the midlatitude troposphere. The findings have implications for the diagnosis of feedbacks in both models and reanalysis data as well as for understanding the mechanisms underlying variations in the zonal wind.

Annular modes and apparent eddy feedbacks in the Southern Hemisphere.

PubMed

Byrne, Nicholas J; Shepherd, Theodore G; Woollings, Tim; Plumb, R Alan

2016-04-28

Lagged correlation analysis is often used to infer intraseasonal dynamical effects but is known to be affected by nonstationarity. We highlight a pronounced quasi 2 year peak in the anomalous zonal wind and eddy momentum flux convergence power spectra in the Southern Hemisphere, which is prima facie evidence for nonstationarity. We then investigate the consequences of this nonstationarity for the Southern Annular Mode and for eddy momentum flux convergence. We argue that positive lagged correlations previously attributed to the existence of an eddy feedback are more plausibly attributed to nonstationary interannual variability external to any potential feedback process in the midlatitude troposphere. The findings have implications for the diagnosis of feedbacks in both models and reanalysis data as well as for understanding the mechanisms underlying variations in the zonal wind.

Single-Mode, Distributed Feedback Interband Cascade Lasers

NASA Technical Reports Server (NTRS)

Frez, Clifford F. (Inventor); Borgentun, Carl E. (Inventor); Briggs, Ryan M. (Inventor); Bagheri, Mahmood (Inventor); Forouhar, Siamak (Inventor)

2016-01-01

Single-mode, distributed feedback interband cascade lasers (ICLs) using distributed-feedback gratings (e.g., lateral Bragg gratings) and methods of fabricating such ICLs are provided. The ICLs incorporate distributed-feedback gratings that are formed above the laser active region and adjacent the ridge waveguide (RWG) of the ICL. The ICLs may incorporate a double-ridge system comprising an optical confinement structure (e.g., a RWG) disposed above the laser active region that comprises the first ridge of the double ridge system, a DFB grating (e.g., lateral Bragg grating) disposed above the laser active region and adjacent the optical confinement structure, and an electric confinement structure that passes at least partially through the laser active region and that defines the boundary of the second ridge comprises and the termination of the DFB grating.

Parity-time–symmetric optoelectronic oscillator

PubMed Central

2018-01-01

An optoelectronic oscillator (OEO) is a hybrid microwave and photonic system incorporating an amplified positive feedback loop to enable microwave oscillation to generate a high-frequency and low–phase noise microwave signal. The low phase noise is ensured by the high Q factor of the feedback loop enabled by the use of a long and low-loss optical fiber. However, an OEO with a long fiber loop would have a small free spectral range, leading to a large number of closely spaced oscillation modes. To ensure single-mode oscillation, an ultranarrowband optical filter must be used, but such an optical filter is hard to implement and the stability is poor. Here, we use a novel concept to achieve single-mode oscillation without using an ultranarrowband optical filter. The single-mode operation is achieved based on parity-time (PT) symmetry by using two identical feedback loops, with one having a gain and the other having a loss of the same magnitude. The operation is analyzed theoretically and verified by an experiment. Stable single-mode oscillation at an ultralow phase noise is achieved without the use of an ultranarrowband optical filter. The use of PT symmetry in an OEO overcomes the long-existing mode-selection challenge that would greatly simplify the implementation of OEOs for ultralow–phase noise microwave generation. PMID:29888325

Optical Potential Field Mapping System

NASA Technical Reports Server (NTRS)

Reid, Max B. (Inventor)

1996-01-01

The present invention relates to an optical system for creating a potential field map of a bounded two dimensional region containing a goal location and an arbitrary number of obstacles. The potential field mapping system has an imaging device and a processor. Two image writing modes are used by the imaging device, electron deposition and electron depletion. Patterns written in electron deposition mode appear black and expand. Patterns written in electron depletion mode are sharp and appear white. The generated image represents a robot's workspace. The imaging device under processor control then writes a goal location in the work-space using the electron deposition mode. The black image of the goal expands in the workspace. The processor stores the generated images, and uses them to generate a feedback pattern. The feedback pattern is written in the workspace by the imaging device in the electron deposition mode to enhance the expansion of the original goal pattern. After the feedback pattern is written, an obstacle pattern is written by the imaging device in the electron depletion mode to represent the obstacles in the robot's workspace. The processor compares a stored image to a previously stored image to determine a change therebetween. When no change occurs, the processor averages the stored images to produce the potential field map.

Can a Rescuer or Simulated Patient Accurately Assess Motion During Cervical Spine Stabilization Practice Sessions?

PubMed Central

Shrier, Ian; Boissy, Patrick; Brière, Simon; Mellette, Jay; Fecteau, Luc; Matheson, Gordon O.; Garza, Daniel; Meeuwisse, Willem H.; Segal, Eli; Boulay, John; Steele, Russell J.

2012-01-01

Context: Health care providers must be prepared to manage all potential spine injuries as if they are unstable. Therefore, most sport teams devote resources to training for sideline cervical spine (C-spine) emergencies. Objective: To determine (1) how accurately rescuers and simulated patients can assess motion during C-spine stabilization practice and (2) whether providing performance feedback to rescuers influences their choice of stabilization technique. Design: Crossover study. Setting: Training studio. Patients or Other Participants: Athletic trainers, athletic therapists, and physiotherapists experienced at managing suspected C-spine injuries. Intervention(s): Twelve lead rescuers (at the patient's head) performed both the head-squeeze and trap-squeeze C-spine stabilization maneuvers during 4 test scenarios: lift-and-slide and log-roll placement on a spine board and confused patient trying to sit up or rotate the head. Main Outcome Measure(s): Interrater reliability between rescuer and simulated patient quality scores for subjective evaluation of C-spine stabilization during trials (0 = best, 10 = worst), correlation between rescuers' quality scores and objective measures of motion with inertial measurement units, and frequency of change in preference for the head-squeeze versus trap-squeeze maneuver. Results: Although the weighted κ value for interrater reliability was acceptable (0.71–0.74), scores varied by 2 points or more between rescuers and simulated patients for approximately 10% to 15% of trials. Rescuers' scores correlated with objective measures, but variability was large: 38% of trials scored as 0 or 1 by the rescuer involved more than 10° of motion in at least 1 direction. Feedback did not affect the preference for the lift-and-slide placement. For the log-roll placement, 6 of 8 participants who preferred the head squeeze at baseline preferred the trap squeeze after feedback. For the confused patient, 5 of 5 participants initially preferred the head squeeze but preferred the trap squeeze after feedback. Conclusions: Rescuers and simulated patients could not adequately assess performance during C-spine stabilization maneuvers without objective measures. Providing immediate feedback in this context is a promising tool for changing behavior preferences and improving training. PMID:22488229

Feedback stabilization system for pulsed single longitudinal mode tunable lasers

DOEpatents

Esherick, Peter; Raymond, Thomas D.

1991-10-01

A feedback stabilization system for pulse single longitudinal mode tunable lasers having an excited laser medium contained within an adjustable length cavity and producing a laser beam through the use of an internal dispersive element, including detection of angular deviation in the output laser beam resulting from detuning between the cavity mode frequency and the passband of the internal dispersive element, and generating an error signal based thereon. The error signal can be integrated and amplified and then applied as a correcting signal to a piezoelectric transducer mounted on a mirror of the laser cavity for controlling the cavity length.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

DOE Office of Scientific and Technical Information (OSTI.GOV)

De Doncker, Rik W. A. A.

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

DOE Office of Scientific and Technical Information (OSTI.GOV)

De Doncker, R.W.A.A.

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other. 3 figs.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

DOEpatents

De Doncker, R.W.A.A.

1992-09-01

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other. 3 figs.

Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

NASA Astrophysics Data System (ADS)

Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

2015-03-01

A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s.

Warning signals for eruptive events in spreading fires

PubMed Central

Fox, Jerome M.; Whitesides, George M.

2015-01-01

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This paper describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–fire coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. In this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests). PMID:25675491

Warning signals for eruptive events in spreading fires.

PubMed

Fox, Jerome M; Whitesides, George M

2015-02-24

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This paper describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., "wind-fire coupling"-a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. In this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind-fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., "blowup fires" in forests).

Warning signals for eruptive events in spreading fires

DOE PAGES

Fox, Jerome M.; Whitesides, George M.

2015-02-09

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This study describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–firemore » coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. Here, in this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Lastly, findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests).« less

Warning signals for eruptive events in spreading fires

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fox, Jerome M.; Whitesides, George M.

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This study describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–firemore » coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. Here, in this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Lastly, findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests).« less

LES of a ducted propeller with rotor and stator in crashback

NASA Astrophysics Data System (ADS)

Jang, Hyunchul; Mahesh, Krishnan

2012-11-01

A sliding interface method is developed for large eddy simulation (LES) of flow past ducted propellers with both rotor and stator. The method is developed for arbitrarily shaped unstructured elements on massively parallel computing platforms. Novel algorithms for searching sliding elements, interpolation at the sliding interface, and data structures for message passing are developed. We perform LES of flow past a ducted propeller with stator blades in the crashback mode of operation, where a marine vessel is quickly decelerated by rotating the propeller in reverse. The unsteady loads predicted by LES are in good agreement with experiments. A highly unsteady vortex ring is observed outside the duct. High pressure fluctuations are observed near the blade tips, which significantly contribute to the side-force. This work is supported by the United States Office of Naval Research.

$$\\mathscr{H}_2$$ optimal control techniques for resistive wall mode feedback in tokamaks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim

DIII-D experiments show that a new, advanced algorithm improves resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic ux di usion time of the vacuum vessel wall. The VALEN RWM model has been used to gauge the e ectiveness of RWM control algorithms in tokamaks. Simulations and experiments have shown that modern control techniques like Linear Quadratic Gaussian (LQG) control will perform better, using 77% less current, than classical techniques when usingmore » control coils external to DIII-D's vacuum vessel. Experiments were conducted to develop control of a rotating n = 1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high N experiments also show that advanced feedback techniques using external control coils may be as e ective as internal control coil feedback using classical control techniques.« less

Chaos synchronization in vertical-cavity surface-emitting laser based on rotated polarization-preserved optical feedback.

PubMed

Nazhan, Salam; Ghassemlooy, Zabih; Busawon, Krishna

2016-01-01

In this paper, the influence of the rotating polarization-preserved optical feedback on the chaos synchronization of a vertical-cavity surface-emitting laser (VCSEL) is investigated experimentally. Two VCSELs' polarization modes (XP) and (YP) are gradually rotated and re-injected back into the VCSEL. The anti-phase dynamics synchronization of the two polarization modes is evaluated using the cross-correlation function. For a fixed optical feedback, a clear relationship is found between the cross-correlation coefficient and the polarization angle θp. It is shown that high-quality anti-phase polarization-resolved chaos synchronization is achieved at higher values of θp. The maximum value of the cross-correlation coefficient achieved is -0.99 with a zero time delay over a wide range of θp beyond 65° with a poor synchronization dynamic at θp less than 65°. Furthermore, it is observed that the antiphase irregular oscillation of the XP and YP modes changes with θp. VCSEL under the rotating polarization optical feedback can be a good candidate as a chaotic synchronization source for a secure communication system.

$$\\mathscr{H}_2$$ optimal control techniques for resistive wall mode feedback in tokamaks

DOE PAGES

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; ...

2018-02-28

DIII-D experiments show that a new, advanced algorithm improves resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic ux di usion time of the vacuum vessel wall. The VALEN RWM model has been used to gauge the e ectiveness of RWM control algorithms in tokamaks. Simulations and experiments have shown that modern control techniques like Linear Quadratic Gaussian (LQG) control will perform better, using 77% less current, than classical techniques when usingmore » control coils external to DIII-D's vacuum vessel. Experiments were conducted to develop control of a rotating n = 1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high N experiments also show that advanced feedback techniques using external control coils may be as e ective as internal control coil feedback using classical control techniques.« less

Rotation in a reversed field pinch with active feedback stabilization of resistive wall modes

NASA Astrophysics Data System (ADS)

Cecconello, M.; Menmuir, S.; Brunsell, P. R.; Kuldkepp, M.

2006-09-01

Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.

Memories and NASA Spacecraft: A Description of Memories, Radiation Failure Modes, and System Design Considerations

NASA Technical Reports Server (NTRS)

LaBel, Kenneth A.; Ladbury, Ray; Oldhamm, Timothy

2010-01-01

As NASA has evolved it's usage of spaceflight computing, memory applications have followed as well. In this slide presentation, the history of NASA's memories from magnetic core and tape recorders to current semiconductor approaches is discussed. There is a brief description of current functional memory usage in NASA space systems followed by a description of potential radiation-induced failure modes along with considerations for reliable system design.

Increased Water Storage at Ice-stream Onsets: A Critical Mechanism?

NASA Technical Reports Server (NTRS)

Bindschadler, Robert; Choi, Hyeungu

2007-01-01

The interdependence of rapid ice flow, surface topography and the spatial distribution of subglacial water are examined by linking existing theories. The motivation is to investigate whether the acceleration of an ice-stream tributary contains a positive feedback that encourages the retention of subglacial water that leads to faster flow. Periodically varying surface and bed topographies are related through a linear ice-flow perturbation theory for various values of mean surface slope, perturbation amplitude and basal sliding speeds. The topographic variations lead to a periodic variation in hydraulic potential that is used to infer the tendency for subglacial water to be retained in local hydraulic potential minima. If water retention leads to enhanced basal sliding, a positive feedback loop is closed that could explain the transition from slower tributary flow to faster-streaming flow and the sustained downstream acceleration along the tributary-ice-stream system. A sensitivity study illustrates that the same range of topographic wavelengths most effectively transmitted from the bed to the surface also strongly influences the behavior of subglacial water. A lubrication index is defined to qualitatively measure the heterogeneity of the subglacial hydrologic system. Application of this index to field data shows that the transition from tributary to ice stream closely agrees with the location where subglacial water may be first stored.

Utility of Lung Ultrasonography for Detection of Pleural Adhesions in Dogs.

PubMed

Uemura, Akiko; Fukayama, Toshiharu; Tanaka, Takashi; Tanaka, Ryou

2018-05-01

To assess lung respiratory movement ("lung sliding") in dogs using B-mode ultrasonography (US) and to develop a method that assesses adhesions between the parietal pleura and the lung. Seventeen male beagles were anesthetized, and respiratory management was performed with intermittent positive pressure ventilation. Lung-sliding assessments and adhesion examinations were performed with lung US under general anesthesia before and 2 weeks after thoracotomy. Lung sliding was scored on a 4-level scale based on the percentage of the area that showed lung sliding (3, an area of roughly ≥80% of the intercostal space; 2, about 50% of the area of the intercostal space; 1, a small area of the intercostal space; or 0, movement absent); scores of 0, 1, and 2 indicated adhesions, whereas a score of 3 indicated no adhesions. The animals were then euthanized, and necropsy was performed to examine pleural adhesions. Lung US and necropsy findings were compared. The median lung-sliding score for the 12 sites with pleural adhesions on necropsy was 1.5, whereas it was 3.0 for the 532 sites without pleural adhesions. The lung-sliding score was significantly lower in the group with adhesions (P < .0001). Adhesion sites detected on necropsy were in accordance with the sites that had decreased lung-sliding scores. Lung US could detect pleural adhesions with sensitivity of 100.0% and specificity of 87.8%. Examination of lung sliding by thoracic US has high diagnostic value for detecting canine pleural adhesions and is useful in predicting adhesion sites before thoracic surgery in healthy dogs. © 2017 by the American Institute of Ultrasound in Medicine.

Influence of Weathering Depth and Fracture Intensity to Cut-slope Movements

NASA Astrophysics Data System (ADS)

Yoon, W. S.; Choi, J. W.; Jeong, U.; Kim, J. H.

2003-04-01

Generally, Failure modes in cut slopes are triggered by combination of various failure factors which have different effects on failure modes according to ground condition. It is, therefore, important to identify the behavioural characteristic of cut slope in that they reflect the failure mechanism. From the careful field investigation for 373 road cuts along the national highway in Korea, we analysed various types of failure modes for different ground conditions. The ground conditions which control failure modes of cut slopes and their related failure factors are dependent on weathering (or soil) depth and intensity of discontinuities in cut slopes. Firstly, the ratio of the soil depth and slope height (soil depth ratio; SR) is important parameter to classify ground conditions into soil-like masses and rock masses. When a SR value is greater than 0.4, sliding failures on discontinuities do not occur. In this case, weathering condition, slope gradient and external rainfall play a key role on failure factors of cut-slope. The proposed 0.4, therefore, is the critical SR value to identify the soil-like masses and rock masses. Secondly, Intensity of discontinuities is expressed by block size ratio (BR), which is defined by the ratio of block size index (Ib; ISRM (1978)) and slope height. For a rock slope (SR<0.4), when BR is greater than 0.01, key failure modes in a cut slope are wedge sliding, fall and topple. In this case, attitudes and shear strength of discontinuities play an important role on behaviour of cut-slope. When BR is less than 0.01, however, behaviour of cut slope shows circular sliding and surface failure like soil-like mass. To sum up, we could divide the ground conditions in cut-slope into 3 classes on the basis of SR (soil depth ratio) and BR (block size ratio); JRM (joint rock mass), HRM (highly fractured rock mass) and SLM (soil-like mass). Moreover, to evaluate the stability of cut-slope reasonably, it needs new evaluating categories having different weighting factors for each ground condition.