A control system design technique for nonlinear discrete time systems

DeLonga, D.

doi:10.1575/1912/5452

Cited by 5 publications

(2 citation statements)

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“…This special motion will exist if the state trajectories in the vicinity of the control discontinuity are directed toward the hyperplane [8]. If a sliding mode is properly introduced into a system's dynamics through active control, system behavior will be governed by the selected dynamics on the hyperplane, despite disturbances, nonlinearities, time-variant behavior and modeling uncertainties [9]. To satisfy the sliding condition despite model uncertainty, a discontinuous control law is required.…”

Section: Sliding Controllermentioning

confidence: 99%

Incorporating thruster dynamics in the control of an underwater vehicle

Cooke¹

1989

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Section: Sliding Controllermentioning

confidence: 99%

Incorporating thruster dynamics in the control of an underwater vehicle

Cooke¹

1989

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“…This type of chatter is not the result of the unmodeled dynamics. Because the straightforward approach to the discrete-time sliding manifold always causes the chattering phenomenon and the trajectory does not stay on the sliding manifold, this type of the discrete-time sliding mode is also called pseudo or quasi sliding mode [Delonga, 1989]. For a continuous-time system, discontinuous control is required to make the dynamic system exhibit the sliding mode.…”

Section: Introduction To Discrete-time Sliding Mode Controlmentioning

confidence: 99%

Co-Simulation of Algebraically Coupled Dynamic Subsystems

Asada

2001

Dynamic Systems and Control

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This paper analyzes the problem of Co-Simulation. The term Co-Simulation is used to describe a large dynamic system that is simulated by running a group of independently coded subsystem simulators. Very commonly, the Co-Simulation of subsystems faces incompatible boundary conditions, i.e., causal conflicts. These causal conflicts cannot be directly resolved, due to the nonlinearity and/or difficulties in modification of coded subsystem simulators. Causal conflicts result in algebraic constraints. Boundary Condition Coordinators (BCCs) are designed to calculate boundary conditions based on subsystem models and their algebraic constraints. The Co-Simulation, which is modeled as Differential Algebraic Equations, then relies on BCC to provide compatible boundary conditions for subsystem simulators. The high index constraint is reduced to index one by defining a sliding manifold. Different ways of enforcing the sliding manifold are discussed: A new Discrete-Time Sliding Mode (DTSM) controller is devised to serve as a BCC, enforcing sliding manifolds and providing boundary conditions. The multi-rate scheme can guarantee Co-Simulation stability at any given step size of all subsystem simulators, provided the subsystem simulators are tested stable at that step size. An example is given to demonstrate the DTSM method. Advantages and possible future improvements are discussed.

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Control Capabilities of Jason and its Manipulator

Yoerger

DiPietro

1990

Ocean Resources

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A control system design technique for nonlinear discrete time systems

Cited by 5 publications

References 58 publications

Incorporating thruster dynamics in the control of an underwater vehicle

Incorporating thruster dynamics in the control of an underwater vehicle

Co-Simulation of Algebraically Coupled Dynamic Subsystems

Control Capabilities of Jason and its Manipulator

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