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This book compiles recent developments on sliding mode control
theory and its applications. Each chapter presented in the book
proposes new dimension in the sliding mode control theory such as
higher order sliding mode control, event triggered sliding mode
control, networked control, higher order discrete-time sliding mode
control and sliding mode control for multi-agent systems. Special
emphasis has been given to practical solutions to design involving
new types of sliding mode control. This book is a reference guide
for graduate students and researchers working in the domain for
designing sliding mode controllers. The book is also useful to
professional engineers working in the field to design robust
controllers for various applications.
This book presents few novel Discrete-time Sliding Mode (DSM)
protocols for leader-following consensus of Discrete Multi-Agent
Systems (DMASs). The protocols intend to achieve the consensus in
finite time steps and also tackle the corresponding uncertainties.
Based on the communication graph topology of multi-agent systems,
the protocols are divided into two groups, namely (i) Fixed graph
topology and (ii) Switching graph topology. The coverage begins
with the design of Discrete-time Sliding Mode (DSM) protocols using
Gao's reaching law and power rate reaching law for the
synchronization of linear DMASs by using the exchange of
information between the agents and the leader to achieve a common
goal. Then, in a subsequent chapter, analysis for no. of fixed-time
steps required for the leader-following consensus is presented. The
book also includes chapters on the design of Discrete-time
Higher-order Sliding Mode (DHSM) protocols, Event-triggered DSM
protocols for the leader-following consensus of DMASs. A chapter is
also included on the design of DHSM protocols for leader-following
consensus of heterogeneous DMASs. Special emphasis is given to the
practical implementation of each proposed DSM protocol for
achieving leader-following consensus of helicopter systems,
flexible joint robotic arms, and rigid joint robotic arms. This
book offers a ready reference guide for graduate students and
researchers working in the areas of control, automation, and
communication engineering, and in particular the cooperative
control of multi-agent systems. It will also benefit professional
engineers working to design and implement robust controllers for
power systems, autonomous vehicles, military surveillance,
smartgrids/microgrids, vehicle traffic management, robotic teams,
and aerial robots.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It highlights the
latest advances, trends and challenges in electrical power
generation-integration-transmission-distribution-conversion-storage-control,
electrical machines, power quality, energy management, electrical
infrastructure of future grids-buildings-cities-transportation,
energy conversion, plasma technology, renewable energy & grid
integration, energy storage systems, power electronic converters,
power system protection & security, FACTS and HVDC, power
quality, power system operation & control, computer
applications in power systems, energy management, energy policies
& regulation, power & energy education, restructured power
system, future grids, buildings, cities & resiliency,
microgrids, electrical machines & drives, transportation
electrification, optimal operation, electricity-gas-water
coordination, condition monitoring & predictive maintenance of
electric equipment, and asset management. The solutions discussed
here will encourage and inspire researchers, industry professionals
and policymakers to put these methods into practice.
This book compiles recent developments on sliding mode control
theory and its applications. Each chapter presented in the book
proposes new dimension in the sliding mode control theory such as
higher order sliding mode control, event triggered sliding mode
control, networked control, higher order discrete-time sliding mode
control and sliding mode control for multi-agent systems. Special
emphasis has been given to practical solutions to design involving
new types of sliding mode control. This book is a reference guide
for graduate students and researchers working in the domain for
designing sliding mode controllers. The book is also useful to
professional engineers working in the field to design robust
controllers for various applications.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It presents the
latest advances, trends and challenges in control system
technologies and infrastructures. The book addresses a range of
solutions to the problems faced by engineers and researchers to
design and develop controllers for emerging areas like smart grid,
integration of renewable energy, automated highway systems,
haptics, unmanned aerial vehicles, sensor networks, robotics,
formation control and many more. The solutions discussed in this
book encourage and inspire researchers, industry professionals and
policymakers to put these methods into practice.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It presents
technological developments in the fields of communications
infrastructure which comprise of architecture, products, and
network connections that allow for communications over the long
distances. The book includes some innovative ideas in the field of
communication infrastructure, specially satellite communication,
navigation systems, artificial neural network, encryption
techniques, and some other infrastructure-related developments. The
solution approaches provided in this book encourage and inspire
researchers, industry professionals, and policymakers to put these
methods into practice.
This book presents few novel Discrete-time Sliding Mode (DSM)
protocols for leader-following consensus of Discrete Multi-Agent
Systems (DMASs). The protocols intend to achieve the consensus in
finite time steps and also tackle the corresponding uncertainties.
Based on the communication graph topology of multi-agent systems,
the protocols are divided into two groups, namely (i) Fixed graph
topology and (ii) Switching graph topology. The coverage begins
with the design of Discrete-time Sliding Mode (DSM) protocols using
Gao's reaching law and power rate reaching law for the
synchronization of linear DMASs by using the exchange of
information between the agents and the leader to achieve a common
goal. Then, in a subsequent chapter, analysis for no. of fixed-time
steps required for the leader-following consensus is presented. The
book also includes chapters on the design of Discrete-time
Higher-order Sliding Mode (DHSM) protocols, Event-triggered DSM
protocols for the leader-following consensus of DMASs. A chapter is
also included on the design of DHSM protocols for leader-following
consensus of heterogeneous DMASs. Special emphasis is given to the
practical implementation of each proposed DSM protocol for
achieving leader-following consensus of helicopter systems,
flexible joint robotic arms, and rigid joint robotic arms. This
book offers a ready reference guide for graduate students and
researchers working in the areas of control, automation, and
communication engineering, and in particular the cooperative
control of multi-agent systems. It will also benefit professional
engineers working to design and implement robust controllers for
power systems, autonomous vehicles, military surveillance,
smartgrids/microgrids, vehicle traffic management, robotic teams,
and aerial robots.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It highlights the
latest advances, trends and challenges in electrical power
generation-integration-transmission-distribution-conversion-storage-control,
electrical machines, power quality, energy management, electrical
infrastructure of future grids-buildings-cities-transportation,
energy conversion, plasma technology, renewable energy & grid
integration, energy storage systems, power electronic converters,
power system protection & security, FACTS and HVDC, power
quality, power system operation & control, computer
applications in power systems, energy management, energy policies
& regulation, power & energy education, restructured power
system, future grids, buildings, cities & resiliency,
microgrids, electrical machines & drives, transportation
electrification, optimal operation, electricity-gas-water
coordination, condition monitoring & predictive maintenance of
electric equipment, and asset management. The solutions discussed
here will encourage and inspire researchers, industry professionals
and policymakers to put these methods into practice.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It presents the
latest advances, trends and challenges in control system
technologies and infrastructures. The book addresses a range of
solutions to the problems faced by engineers and researchers to
design and develop controllers for emerging areas like smart grid,
integration of renewable energy, automated highway systems,
haptics, unmanned aerial vehicles, sensor networks, robotics,
formation control and many more. The solutions discussed in this
book encourage and inspire researchers, industry professionals and
policymakers to put these methods into practice.
This book gathers selected research papers presented at the
International Conference on Power, Control and Communication
Infrastructure 2019 (ICPCCI 2019), organized by the Institute of
Infrastructure, Technology, Research and Management (IITRAM),
Ahmedabad, Gujarat, India, on July 4-5, 2019. It presents
technological developments in the fields of communications
infrastructure which comprise of architecture, products, and
network connections that allow for communications over the long
distances. The book includes some innovative ideas in the field of
communication infrastructure, specially satellite communication,
navigation systems, artificial neural network, encryption
techniques, and some other infrastructure-related developments. The
solution approaches provided in this book encourage and inspire
researchers, industry professionals, and policymakers to put these
methods into practice.
This book presents novel algorithms for designing Discrete-Time
Sliding Mode Controllers (DSMCs) for Networked Control Systems
(NCSs) with both types of fractional delays namely deterministic
delay and random delay along with different packet loss conditions
such as single packet loss and multiple packet loss that occur
within the sampling period. Firstly, the switching type and
non-switching type algorithms developed for the deterministic type
fractional delay where the delay is compensated using Thiran's
approximation technique. A modified discrete-time sliding surface
is proposed to derive the discrete-time sliding mode control
algorithms. The algorithm is further extended for the random
fractional delay with single packet loss and multiple packet loss
situations. The random fractional delay is modelled using Poisson's
distribution function and packet loss is modelled by means of
Bernoulli's function. The condition for closed loop stability in
all above situations are derived using the Lyapunov function.
Lastly, the efficacy of the proposed DSMC algorithms are
demonstrated by extensive simulations and also experimentally
validated on a servo system.
This book presents novel algorithms for designing Discrete-Time
Sliding Mode Controllers (DSMCs) for Networked Control Systems
(NCSs) with both types of fractional delays namely deterministic
delay and random delay along with different packet loss conditions
such as single packet loss and multiple packet loss that occur
within the sampling period. Firstly, the switching type and
non-switching type algorithms developed for the deterministic type
fractional delay where the delay is compensated using Thiran's
approximation technique. A modified discrete-time sliding surface
is proposed to derive the discrete-time sliding mode control
algorithms. The algorithm is further extended for the random
fractional delay with single packet loss and multiple packet loss
situations. The random fractional delay is modelled using Poisson's
distribution function and packet loss is modelled by means of
Bernoulli's function. The condition for closed loop stability in
all above situations are derived using the Lyapunov function.
Lastly, the efficacy of the proposed DSMC algorithms are
demonstrated by extensive simulations and also experimentally
validated on a servo system.
It is well established that the sliding mode control strategy
provides an effective and robust method of controlling the
deterministic system due to its well-known invariance property to a
class of bounded disturbance and parameter variations. Advances in
microcomputer technologies have made digital control increasingly
popular among the researchers worldwide. And that led to the study
of discrete-time sliding mode control design and its
implementation. This brief presents, a method for multi-rate
frequency shaped sliding mode controller design based on switching
and non-switching type of reaching law. In this approach, the
frequency dependent compensator dynamics are introduced through a
frequency-shaped sliding surface by assigning frequency dependent
weighing matrices in a linear quadratic regulator (LQR) design
procedure. In this way, the undesired high frequency dynamics or
certain frequency disturbance can be eliminated. The states are
implicitly obtained by measuring the output at a faster rate than
the control. It is also known that the vibration control of smart
structure is a challenging problem as it has several vibratory
modes. So, the frequency shaping approach is used to suppress the
frequency dynamics excited during sliding mode in smart structure.
The frequency content of the optimal sliding mode is shaped by
using a frequency dependent compensator, such that a higher gain
can be obtained at the resonance frequencies. The brief discusses
the design methods of the controllers based on the proposed
approach for the vibration suppression of the intelligent
structure. The brief also presents a design of 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
Riccati equation is explained. Using the proposed method, the
observer for the Power System Stabilizer (PSS) for Single Machine
Infinite Bus (SMIB) system is designed and the simulation is
carried out using the observed states. The discrete-time sliding
mode controller based on the proposed reduced order observer design
method is also obtained for a laboratory experimental servo system
and verified with the experimental results.
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