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Decentralized control for large-scale systems with time-varying delay and unmatched uncertainties

Wen-Jeng Liu (2011)

Kybernetika

Many real-world systems contain uncertainties and with time-varying delays, also, they have become larger and more complicated. Hence, a new decentralized variable structure control law is proposed for a class of uncertain large-scale system with time varying delay in the interconnection and time varying unmatched uncertainties in the state matrix. The proposed decentralized control law for the large-scale time-varying delay system is realized independently through the delayed terms and it can drive...

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Abdel-Razzak Merheb, Hassan Noura, François Bateman (2015)

International Journal of Applied Mathematics and Computer Science

In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity...

Design of reaching phase for variable structure controller based on Householder transformation

Goshaidas Ray, Sitansu Dey, T. K. Bhattacharyya (2005)

Kybernetika

The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient...

Design of reaching phase for variable structure controller based on SVD method

Goshaidas Ray, Sitansu Dey (2004)

Kybernetika

This paper considers a design of variable structure with sliding mode controller for a class of uncertain dynamic system based on Singular Value Decomposition (SVD) method. The proposed method reduces the number of switching gain vector components and performs satisfactorily while the external disturbance does not satisfy the matching conditions. Subsequently the stability of the global system is studied and furthermore, the design of switched gain matrix elements based on fuzzy logic approach provides...

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