Browsing by Author "Chang, JL"

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A new method for constructing sliding surfaces of linear time-invariant systems
(2000-04-01)
Chen, YP
;
Chang, JL
;
電控工程研究所
;
Institute of Electrical and Control Engineering
A new method for constructing the sliding surfaces is developed by using the pole-assignment method; unlike the usual cases, the pole-assignment method is applied to the aver all closed-loop system and not the system in the sliding mode. Most importantly, the design procedure is simple since the sliding sur;faces can be determined in art explicit farm. Also, three significant properties listed in a theorem are proved and demonstrated by a numerical example.
Force control of a single-link flexible arm using sliding-mode theory
(1998-03-01)
Chang, JL
;
Chen, YP
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Motivated by the relation between a force acting on a flexible arm and the resultant bending deflection, this paper presents a force control technique simply via position control. The dynamic equations of a flexible arm with tip position placed on a fu;ed horizontal plane are modeled by an approach similar to the finite element method. Based on this model, the constraint force on the horizontal plane can be directly estimated from the motor's angle and the bending deflection, and thus the use of force sensor is no longer needed. The controller structure consists of two nested feedback loops in which the inner loop is designed for the motor's angle by a PD control algorithm and the outer loop deals with the constraint force by sliding-mode control. Experimental results are included to demonstrate the success of the developed controller.
Integral sliding control for disturbance matched to part of the inputs
(2000-03-01)
Chen, YP
;
Chang, JL
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a theoretical research on the integral sliding control technology for linear time-invariant systems encountering disturbance matched to part of the control inputs. Only part of the control inputs is designed by the sliding-mode theory to eliminate the disturbance. Besides, based on the pole-assignment method the design of integral sliding vector becomes simple and straightforward. A numeric example is finally used to demonstrate the success of the developed controller.
On existence and construction of stabilizing switching laws between two unstable linear systems
(2005)
Liang, YW
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Tan, YH
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Xu, SD
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Chang, JL
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電控工程研究所
Issues regarding the application of two equivalent sufficient conditions for the existence of stabilizing switching laws between two unstable linear systems are studied. One of the conditions is effective for theoretical derivation, while the other is easily implementable. To further understand the geometrical insight of the conditions, an equivalent condition involving the information of eigenvalues and eigenvectors of system dynamics is presented for planar cases. With the help of the equivalent relation, a condition for the existence of controllers and stabilizing switching laws between two unstabilizable linear control systems is also presented. The controllers and stabilizing switching laws are explicitly constructed through the use of an existed algorithm.
Output feedback sliding-mode controller design for minimum phase linear systems
(2001-09-01)
Chen, YP
;
Chang, JL
;
Li, KT
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper proposes an output sliding-mode control under three assumptions given to the system matrices and the matching uncertainty. Based on these assumptions', first one important transformation matrix is introduced and then a state-estimator is constructed. The-output sliding-mode control is designed when the system state is well estimated. Finally, a numeric example is included to demonstrate the developed controller.
Stability analysis and bang-bang sliding control of a class of single-input bilinear systems
(2000-11-01)
Chen, YP
;
Chang, JL
;
Lai, KM
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper introduces a novel bang-bang sliding control of a class of single-input bilinear systems. The sliding function is chosen via the well-known pole-assignment method for linear time-invariant systems. Importantly, the bang-bang sliding control generates a reaching-and-sliding region and a stable-sliding region, each expressed by a set of linear inequalities. Both regions comprise the equilibrium point, shown to be asymptotically stable. However, the stability analysis is processed under the limitation that the system state should be initially located in the reaching-and-sliding region. Two numeric examples are used for demonstration.
Stability analysis and bounded sliding-mode control of a class of multi-input bilinear systems
(1999-12-01)
Chen, YP
;
Chang, JL
;
Lai, KM
;
電控工程研究所
;
Institute of Electrical and Control Engineering
A bounded sliding-mode controller is developed for a class of multi-input bilinear systems. The sliding vector design is based on the conventional pole-assignment method for linear time-invariant systems. Three conditions are required for the assigned eigenvalues when applying the pole-assignment method. A potential reaching-and-sliding region and a stable sliding region are determined around the origin, which is shown to be locally asymptotically stable. Numeric simulation results are used to demonstrate the success of the proposed bounded sliding-mode controller.