Hybrid sliding mode control for a set of interconnected nonlinear components

Author

Giacomini, Luisa ; Bordbar, Behzad ; Holding, David J.

Author_Institution

Electron. Eng., Aston Univ., Birmingham, UK

Volume

3

fYear

2000

fDate

2000

Firstpage

2180

Abstract

Reports the use of sliding mode control in the design of a hybrid controller for a distributed system comprising a pair of loosely-coupled inverted pendulums. A sliding mode controller is designed to independently drive each pendulum mechanism to provide stabilization and profiled motion control. Then, to accomplish a reschedulable sequence of tasks, a supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets. It is shown that using an appropriate coordination strategy it is possible to achieve a stability envelope for the composite system which is greater than that of the individual components

Keywords

Petri nets; control system synthesis; distributed parameter systems; industrial manipulators; interconnected systems; motion control; nonlinear control systems; pendulums; variable structure systems; composite system; compositional methods; controlled Petri nets; coordination strategy; distributed system; hybrid sliding mode control; interconnected nonlinear components; loosely-coupled inverted pendulums; profiled motion control; stability envelope; stabilization; supervisory system; Control system analysis; Control systems; Distributed control; Independent component analysis; Interconnected systems; Motion control; Petri nets; Rails; Sliding mode control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.914118

Filename

914118