ROBUST ADAPTIVE SLIDING MODE CONTROL FOR NONLINEAR UNCERTAIN NEUTRAL DELAY SYSTEM

Robust stabilization for a class of nonlinear uncertain neutral system with time-varying delay is investigated. By applying the Lyapunov stability theorem, an adaptive sliding mode controller （ADSMC） is developed.Based on the sliding mode control technique, the controller can drive the system into a pre-specified sliding hyperplane to obtain the desired dynamic performance. Once the system dynamics reaches the sliding plane, the control system is insensitive to uncertainty. The adaptive technique can overcome the unknown upper bound of uncertainty so that the reaching condition can be satisfied. Furthermore, the controller does not include any delayed state,so such an ADSMC is memoryless. Finally, a numerical example is given to verify the validity of the developed memoryless ADSMC and the globally asymptotic stability is guaranteed for the control scheme.

Uniformed model of networked control systems with long time delay

Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems （NCS）. The defining feature of an NCS is that information is exchanged using a network among control system components. Two new concepts including long time delay and short time delay are proposed. The sensor is almost always clock driven. The controller or the actuator is either clock driven or event driven. Four possible driving modes of networked control systems are presented. The open loop mathematic models of networked control systems with long time delay are developed when the system is driven by anyone of the four different modes. The uniformed modeling method of networked control systems with long time delay is proposed. The simulation results are given in the end.

Robust H_∞ Load Frequency Control of Multi-area Power System With Time Delay:A Sliding Mode Control Approach

This paper is devoted to investigate the robust H∞sliding mode load frequency control(SMLFC) of multi-area power system with time delay. By taking into account stochastic disturbances induced by the integration of renewable energies,a new sliding surface function is constructed to guarantee the fast response and robust performance, then the sliding mode control law is designed to guarantee the reach ability of the sliding surface in a finite-time interval. The sufficient robust frequency stabilization result for multi-area power system with time delay is presented in terms of linear matrix inequalities(LMIs). Finally,a two-area power system is provided to illustrate the usefulness and effectiveness of the obtained results.

Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

Robust control for a class of nonlinear networked systems with stochastic communication delays via sliding mode conception

This paper deals with the robust control problem for a class of uncertain nonlinear networked systems with stochastic communication delays via sliding mode conception （SMC）. A sequence of variables obeying Bernoulli distribution are employed to model the randomly occurring communication delays which could be different for different state variables. A discrete switching function that is different from those in the existing literature is first proposed. Then, expressed as the feasibility of a linear matrix inequality （LMI） with an equality constraint, sufficient conditions are derived in order to ensure the globally mean-square asymptotic stability of the system dynamics on the sliding surface. A discrete-time SMC controller is then synthesized to guarantee the discrete-time sliding mode reaching condition with the specified sliding surface. Finally, a simulation example is given to show the effectiveness of the proposed method.

Sliding mode control of uncertain systems with distributed time-delay: parameter-dependent Lyapunov functional approach

The robust stability and robust sliding mode control problems are studied for a class of linear distributed time-delay systems with polytopic-type uncertainties by applying the parameter-dependent Lyapunov functional approach combining with a new method of introducing some relaxation matrices and tuning parameters, which can be chosen properly to lead to a less conservative result. First, a sufficient condition is proposed for robust stability of the autonomic system; next, the sufficient conditions of the robust stabilization controller and the existence condition of sliding mode are developed. The results are given in terms of linear matrix inequalities （LMIs）, which can be solved via efficient interior-point algorithms. A numerical example is presented to illustrate the feasibility and advantages of the proposed design scheme.

Delay Compensation Observer with Sliding Mode Controller for Rotary Electro-hydraulic Servo System

The hip’s lower limb exoskeleton essential and most important function is to support human’s payload as well as to enhance and assist human’s motion. It utilizes an electro-hydraulic servo manipulator which is required to achieve precise trajectory tracking and positioning operations. Nevertheless,these tasks require precise and robust control,which is very difficult to attain due to the inherent nonlinear dynamic behavior of the electro-hydraulic system caused by flow-pressure characteristics and fluid volume control variations of the servo valve. The sliding mode controller(SMC)is a widely used nonlinear robust controller,yet uncertainties and delay in the output degrade the closed-loop system performance and cause system instability. This work proposes a robust controller scheme that counts for the output delay and the inherent parameter uncertainties. Namely,a sliding mode controller enhanced by time-delay compensating observer for a typical electro-hydraulic servo system is adapted. SMC is utilized for its robustness against servo system parameters’ uncertainty whereas a time-delay observer estimates the variable states of the controller(velocity and acceleration). The main contribution of this paper is improving on the closed loop performance of the electro hydraulic servo system and mitigating the delay time effects. Simulation results prove the robustness of this controller,which forces the position to track the desired path regardless of the changes of the amount of transport delay of the system’s states. The performance of the proposed controller is validated by repeating the simulation analysis while varying the amount of delay time.

Adaptive sliding mode control of modular self-reconfigurable spacecraft with time-delay estimation

The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.

Stabilization of Uncertain Fractional Memristor Chaotic Time⁃Delay System Based on Fractional Order Sliding Mode Control

Based on Lyapunov theorem and sliding mode control scheme,the chaos control of fractional memristor chaotic time⁃delay system was studied.In order to stabilize the system,a fractional sliding mode control method for fractional time⁃delay system was proposed.In addition,Lyapunov stability theorem was used to analyze the control scheme theoretically,which guaranteed the stability of commensurate and non⁃commensurate order systems with or without uncertainties and disturbances.Furthermore,to illustrate the feasibility of controller,the conditions for designing the controller parameters were derived.Finally,the simulation results presented the effectiveness of the designed strategy.

Effect of aggregation on thermally activated delayed fluorescence and ultralong organic phosphorescence:QM/MM study

Aggregation-induced thermally activated delayed fluorescence(TADF)phenomena have attracted extensive attention recently.In this paper,several theoretical models including monomer,dimer,and complex are used for the explanation of the luminescent properties of(R)-5-(9H-carbazol-9-yl)-2-(1,2,3,4-tetrahydronaphthalen-1-yl)isoindoline-1,3-dione((R)-ImNCz),which was recently reported[Chemical Engineering Journal 418129167(2021)].The polarizable continuum model(PCM)and the combined quantum mechanics and molecular mechanics(QM/MM)method are adopted in simulation of the property of the molecule in the gas phase,solvated in acetonitrile and in aggregation states.It is found that large spin–orbit coupling(SOC)constants and a smaller energy gap between the first singlet excited state and the first triplet excited state(△E_(st))in prism-like single crystals(SC_(p)-form)are responsible for the TADF of(R)-lmNCz,while no TADF is found in block-like single crystals(SC_(b)-form)with a larger △E_(st).The multiple ultralong phosphorescence(UOP)peaks in the spectrum are of complex origins,and they are related not only to ImNCz but also to a minor amount of impurities(ImNBd)in the crystal prepared in the laboratory.The dimer has similar phosphorescence emission wavelengths to the(R)-lmNCz-SC_(p) monomers.The complex composed of(R)-lmNCz and(R)-lmNBd contributes to the phosphorescent emission peak at about 600 nm,and the phosphorescent emission peak at about 650 nm is generated by(R)-lmNBd.This indicates that the impurity could also contribute to emission in molecular crystals.The present calculations clarify the relationship between the molecular aggregation and the light-emitting properties of the TADF emitters and will therefore be helpful for the design of potentially more useful TADF emitters.

TSM control of the delayed input system

The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllabte canonical form system. Then the paper designed a terminal sliding mode and terminal sliding control law with Lyapunov method for the transformed system. Through the method, the reaching time of the any initial state and the convergencing time to the equilibrium points are constrained in finite time. The simulation results show the validation of the method.

Sliding Mode Variable Structure Control for Visual Servoing System

A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.

Improved estimation of rotor position for sensorless control of a PMSM based on a sliding mode observer

This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer(SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter(LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.

Cascade control based on minimum sensitivity in outer loop for processes with time delay

A new cascade control program was proposed based on modified internal model control to handle stable,unstable and integrating processes with time delay.The program had totally four controllers of which the secondary loop had two controllers and the primary loop had two controllers.The two secondary loop controllers were designed using IMC technique.They were decoupled completely and could be adjusted independently,which avoided the undesirable influence on performance of the primary controllers.The main controller in the primary loop was devised as a PID using the method of minimum sensitivity,which could guarantee not only the nominal performance but also the robust stability of the system.A setpoint filter was added in the primary loop to improve the tracking performance.All the controllers of the two closed-loops were designed analytically,and could be adjusted and optimized by single parameter respectively.Simulations were carried out on three various processes with time delay,and the results show that the proposed method can provide a better performance of both set-point tracking and disturbance rejection and robustness against parameters perturbation.

Sensor Fault Diagnosis for a Class of Time Delay Uncertain Nonlinear Systems Using Neural Network

In this paper,a sliding mode observer scheme of sensor fault diagnosis is proposed for a class of time delay nonlinear systems with input uncertainty based on neural network.The sensor fault and the system input uncertainty are assumed to be unknown but bounded.The radial basis function (RBF) neural network is used to approximate the sensor fault.Based on the output of the RBF neural network,the sliding mode observer is presented.Using the Lyapunov method,a criterion for stability is given in terms of matrix inequality.Finally,an example is given for illustrating the availability of the fault diagnosis based on the proposed sliding mode observer.

Fractional delay compensated discrete-time SMC for networked control system

Time-varying network induced delay in the communication channel severely affects the performance of closed loop network control systems. In this paper, a novel idea of compensating the fractional time varying communication delay in the sliding Surface is presented. The fractional time delay in the sensor to controller and controller to actuator channel is approximated using the Thiran approximation technique to design the sliding surface. A discrete-time sliding mode control law is derived using the proposed surface that compensates fractional time delay in sensor to controller and controller to actuator channels for uncertain network control systems. The sufficient condition for closed loop stability of the system is derived using the Lyapunov function. The efficacy of the proposed strategy is supported by the simulation results.

Energy efficient and delay aware ternary-state transceivers for aerial base stations

In recent times, Aerial Base Stations(AeBSs) are being investigated to provide wireless coverage to terrestrial radio terminals. There are many advantages of using aerial platforms to provide wireless coverage, including larger coverage in remote areas and better line-of-sight conditions, etc. Energy is a scarce resource for the AeBSs, hence the wise management of energy is quite beneficial for the aerial network. In this context, we study the means of reducing the total energy consumption by designing and implementing an energy efficient AeBSs as presented in this paper. Implementing the sleep mode in the Base Stations (BSs) has been proven to be a very good approach for improving the energy efficiency and we propose a novel strategy for further improving energy efficiency by considering ternary state transceivers for AeBSs. Using the three state model, we propose a Markov Decision Process (MDP) based algorithm, which intelligently switches among three states of the transceivers based on the offered traffic meanwhile maintaining a prescribed minimum channel rate per user. We define a reward function for the MDP, which helps us to get an optimal policy for selecting a particular mode for the transceivers of the AeBS. Considering an AeBS with transceivers whose states are changeable, we perform simulations to analyse the performance of the algorithm. Our results show that, compared with the always active model, around 40% gain in the energy efficiency is achieved by using our proposed MDP algorithm together with the three-state transceivers model. We also show the energy-delay tradeoff in order to design an efficient AeBS.

Logarithmic Growth Algorithm of Sleep Mode of Broadband Mobile Access Terminal

The sleep mode which works upon low arrival traffic is introduced in IEEE802.16e standard to reduce the power consumption of the mobile access terminal. Due to the rapid growth in the sleep interval in the exponential growth algorithm prescribed in IEEE802.16e, the power saving efficiency of the mobile access terminal is limited and the average delay time of receiving data frames is prolonged when the arrival rate of data frames is low. To obtain lower power consumption and shorter average delay time, the l...

New Hybrid Digital Circuit Design Techniques for Reducing Subthreshold Leakage Power in Standby Mode

In this paper, four new hybrid digital circuit design techniques, namely, hybrid multi-threshold CMOS complete stack technique, hybrid multi-threshold CMOS partial stack technique, hybrid super cutoff complete stack technique and hybrid super cutoff partial stack technique, have been proposed to reduce the subthreshold leakage power dissipation in standby modes. Techniques available in literature are compared with our proposed hybrid circuit design techniques. Performance parameters such as subthreshold leakage power dissipation in active and standby modes, dynamic power dissipation and propagation delay, are compared using existing and proposed hybrid techniques for a two input AND gate. Reduction of subthreshold leakage power dissipation in standby mode is given more importance, in comparison with the other circuit design performance parameters. It is found that there is reduction in subthreshold leakage power dissipation in standby and active modes by 3.5× and 1.15× respectively using the proposed hybrid super cutoff complete stack technique as compared to the existing multi-threshold CMOS (MTCMOS) technique. Also a saving of 2.50× and 1.04× in subthreshold leakage power dissipation in standby and active modes respectively were observed using hybrid super cutoff complete stack technique as compared to the existing super cutoff CMOS (SCCMOS) technique. The proposed hybrid super cutoff stack technique proved to perform better in terms of subthreshold leakage power dissipation in standby mode in comparison with other techniques. Simulation results using Microwind EDA tool in 65 nm CMOS technology is provided in this paper.

Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractionalorder system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the noncommensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally,numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time.