The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
B. Bandyopadhyay - One of the best experts on this subject based on the ideXlab platform.
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improved output feedback second order Sliding mode control design with implementation for underactuated slosh container system having confined track length
Iet Control Theory and Applications, 2017Co-Authors: Parth S Thakar, B. Bandyopadhyay, Prasanna S. GandhiAbstract:In this study, a new second order Sliding mode controller is designed through a novel non-linear Sliding Surface proposal for a slosh-container system. A linear Sliding Surface based controller using second order Sliding mode is also derived for the comparison purpose. Both the controllers need only output measurements. The super-twisting algorithm is employed to ensure the finite time convergence of system trajectories to a second order Sliding set. In Sliding phase, the asymptotic stability of the system states to a desired origin is proved by proposing a new Lyapunov function for the system. A slosh-container system representing underactuated interconnected non-linear dynamics is considered. It is shown that how the consideration of limited track length of container affects the stability conditions. To generate a position trajectory for container from the control input signal, a new approach is employed for the implementation purpose. It is demonstrated through simulations and experimental results that the proposed controller based on the novel non-linear Sliding Surface outperforms the other controller based on the linear Surface and it is more suitable on various practical aspects. This also validates the theoretical findings of the study.
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non linear Sliding Surface towards high performance robust control
Iet Control Theory and Applications, 2012Co-Authors: Deepak Fulwani, B. Bandyopadhyay, Leonid FridmanAbstract:The study proposes a method to design a non-linear Sliding Surface to achieve better transient response for a class of single-input and single-output (SISO) non-linear uncertain system represented in a Brunowsky canonical form. The proposed Surface can also be used for linear uncertain systems with matched perturbations. The proposed Surface increases the damping ratio of the closed-loop system from its initial low value; as the output approaches the setpoint from its initial value. Initially, the system is lightly damped resulting in a quick response and as the output approaches the setpoint, the system is overdamped to avoid overshoot. The existence of Sliding mode is proved and a new control law is proposed to enforce Sliding motion. The scheme is able to achieve low overshoot and short settling time simultaneously which is not possible with a linear Sliding Surface. To ease the synthesis of the non-linear Surface, linear matrix inequalities-based algorithm is proposed. Effectiveness of the proposed scheme is illustrated by the simulation results.
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reduced order observer design for servo system using duality to discrete time Sliding Surface design
IEEE Transactions on Industrial Electronics, 2010Co-Authors: A J Mehta, B. Bandyopadhyay, Akira InoueAbstract:This paper presents a design method of a discrete-time reduced-order observer using the duality to discrete-time Sliding-Surface design. First, the duality between the coefficients of the discrete-time reduced-order observer and the Sliding-Surface design is established, and then, the design method for the observer using the Riccati equation is explained. A discrete-time Sliding-mode controller based on the proposed observer is designed and tested on a laboratory-type experimental servo system. The results show the efficacy of the reduced-order observer designed by the duality concept.
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high performance tracking controller for discrete plant using nonlinear Sliding Surface
IEEE Transactions on Industrial Electronics, 2009Co-Authors: B. Bandyopadhyay, Deepak FulwaniAbstract:A nonlinear Sliding Surface is proposed to improve the transient response for general discrete multiple-input-multiple-output linear systems with matched perturbations. The tracking case is analyzed, and it is shown that the scheme is able to achieve low overshoot and low settling time simultaneously; this is not possible with a linear Sliding Surface. The control law is based on the discrete-time Sliding mode equivalent control and thus eliminates chattering. The control law is proposed based on two approaches: (1) reaching-law-based approach which needs only disturbance bounds and (2) disturbance-observer-based approach. Multirate output feedback is used to relax the need of the entire state vector for the implementation of the control law. A magnetic tape position control application is used to show the effectiveness of the proposed scheme.
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Sliding mode control for slosh free motion a class of underactuated system
International Journal of Advanced Mechatronic Systems, 2009Co-Authors: B. Bandyopadhyay, Shailaja Kurode, Prasanna S. GandhiAbstract:Underactuated systems are the representative of a large class of systems. This paper presents a new method for the design of Sliding Surface for a class of second order underactuated system in which a virtual input is considered in unactuated subsystem. A Sliding mode controller is proposed to ensure Sliding along the Sliding Surface. A problem of slosh free-motion of a container is considered as representative of a typical class of underactuated system. A simple pendulum model is considered to represent the lateral slosh. Extensive simulation studies are conducted with the controller to demonstrate the proposed approach.
Andrzej Bartoszewicz - One of the best experts on this subject based on the ideXlab platform.
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a comment on a time varying Sliding Surface for fast and robust tracking control of second order uncertain systems
Automatica, 1995Co-Authors: Andrzej BartoszewiczAbstract:In a recent paper, Seung-Bok Choi, Dong-Won Park and Suhada Jayasuriya (Automatica, 30, 899–904, 1994) have presented a stepwise time-varying Sliding Surface for variable structure control of a class of second-order uncertain systems. As the Surface does not truly guarantee insensitivity of the systems to parameter variations and external disturbances, in this comment we propose a continuously time-varying Surface that allows faster tracking and really guarantees robust behaviour of the systems.
Seungbok Choi - One of the best experts on this subject based on the ideXlab platform.
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a new composite adaptive controller featuring the neural network and prescribed Sliding Surface with application to vibration control
Mechanical Systems and Signal Processing, 2018Co-Authors: Do Xuan Phu, Ta Duc Huy, Van Mien, Seungbok ChoiAbstract:Abstract This work proposes a novel composite adaptive controller based on the prescribed performance of the Sliding Surface and applies it to vibration control of a semi-active vehicle seat suspension system subjected to severe external disturbances. As a first step, the online fast interval type 2 fuzzy neural network system is adopted to establish a model and two Sliding Surfaces are used; conventional Surface and prescribed Surface. Then, an equivalent control is determined by assuming the derivative of the prescribed Surface is zero, followed by the design of a controller which can guarantee both stability and robustness. Then, two controllers are combined and integrated with adaptation laws using the projection algorithm. The effectiveness of the proposed composite controller is validated through both simulation and experiment by undertaking vibration control of a semi-active seat suspension system equipped with a magneto-rheological (MR) damper. It is shown from both simulation and experimental realization that excellent vibration control performances are achieved with a small tracking error between the proposed and prescribed objectives. In addition, the control superiority of the proposed controller to conventional Sliding mode controller featuring one Sliding Surface and proportional-integral-derivative (PID) controllers are demonstrated through a comparative work.
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a time varying Sliding Surface for fast and robust tracking control of second order uncertain systems
Automatica, 1994Co-Authors: Seungbok Choi, Dongwon Park, Suhada JayasuriyaAbstract:Abstract A time-varying Sliding Surface for a variable structure control (VSC) law is proposed to achieve fast and robust tracking in a class of second-order uncertain dynamic systems. The Surface initially passes arbitrary initial states and subsequently moves towards a predetermined Surface via rotating and/or shifting. The existence of Sliding mode with the time-varying Sliding Surface is proved, and moving procedures are presented in detail as well as salient features. Using the proposed Surface favorable fast and robust tracking behaviors are accomplished without increasing the magnitude of the discontinuous control gain, hence undesirable chattering. To illustrate the advantages of the proposed method, a simple second-order nonlinear system subjected to parameter variations and extraneous disturbance is considered.
Prasanna S. Gandhi - One of the best experts on this subject based on the ideXlab platform.
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improved output feedback second order Sliding mode control design with implementation for underactuated slosh container system having confined track length
Iet Control Theory and Applications, 2017Co-Authors: Parth S Thakar, B. Bandyopadhyay, Prasanna S. GandhiAbstract:In this study, a new second order Sliding mode controller is designed through a novel non-linear Sliding Surface proposal for a slosh-container system. A linear Sliding Surface based controller using second order Sliding mode is also derived for the comparison purpose. Both the controllers need only output measurements. The super-twisting algorithm is employed to ensure the finite time convergence of system trajectories to a second order Sliding set. In Sliding phase, the asymptotic stability of the system states to a desired origin is proved by proposing a new Lyapunov function for the system. A slosh-container system representing underactuated interconnected non-linear dynamics is considered. It is shown that how the consideration of limited track length of container affects the stability conditions. To generate a position trajectory for container from the control input signal, a new approach is employed for the implementation purpose. It is demonstrated through simulations and experimental results that the proposed controller based on the novel non-linear Sliding Surface outperforms the other controller based on the linear Surface and it is more suitable on various practical aspects. This also validates the theoretical findings of the study.
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Sliding mode control for slosh free motion a class of underactuated system
International Journal of Advanced Mechatronic Systems, 2009Co-Authors: B. Bandyopadhyay, Shailaja Kurode, Prasanna S. GandhiAbstract:Underactuated systems are the representative of a large class of systems. This paper presents a new method for the design of Sliding Surface for a class of second order underactuated system in which a virtual input is considered in unactuated subsystem. A Sliding mode controller is proposed to ensure Sliding along the Sliding Surface. A problem of slosh free-motion of a container is considered as representative of a typical class of underactuated system. A simple pendulum model is considered to represent the lateral slosh. Extensive simulation studies are conducted with the controller to demonstrate the proposed approach.
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Sliding mode control for slosh free motion a class of underactuated system
International Journal of Advanced Mechatronic Systems, 2009Co-Authors: B. Bandyopadhyay, Shailaja Kurode, Prasanna S. GandhiAbstract:Underactuated systems are the representative of a large class of systems. This paper presents a new method for the design of Sliding Surface for a class of second order underactuated system in which a virtual input is considered in unactuated subsystem. A Sliding mode controller is proposed to ensure Sliding along the Sliding Surface. A problem of slosh free-motion of a container is considered as representative of a typical class of underactuated system. A simple pendulum model is considered to represent the lateral slosh. Extensive simulation studies are conducted with the controller to demonstrate the proposed approach.
Suhada Jayasuriya - One of the best experts on this subject based on the ideXlab platform.
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a time varying Sliding Surface for fast and robust tracking control of second order uncertain systems
Automatica, 1994Co-Authors: Seungbok Choi, Dongwon Park, Suhada JayasuriyaAbstract:Abstract A time-varying Sliding Surface for a variable structure control (VSC) law is proposed to achieve fast and robust tracking in a class of second-order uncertain dynamic systems. The Surface initially passes arbitrary initial states and subsequently moves towards a predetermined Surface via rotating and/or shifting. The existence of Sliding mode with the time-varying Sliding Surface is proved, and moving procedures are presented in detail as well as salient features. Using the proposed Surface favorable fast and robust tracking behaviors are accomplished without increasing the magnitude of the discontinuous control gain, hence undesirable chattering. To illustrate the advantages of the proposed method, a simple second-order nonlinear system subjected to parameter variations and extraneous disturbance is considered.
