Maneuvering Car Tracking Using the Interacting Multiple Model and the Dynamic 2nd-Order SVSF Method

2015 ◽  
Author(s):  
Mina Attari ◽  
Hamed Hossein Afshari ◽  
Saeid Habibi
Keyword(s):  
State Estimation ◽  
Sliding Mode ◽  
Estimation Method ◽  
Variable Structure ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Structure Control ◽  
Position Data ◽  
Car Driving ◽  
Tracking Strategy

Car tracking algorithms have recently found a major role in intelligent automotive applications. They are mainly based on the state estimation techniques to solve the maneuvering car tracking problems. The dynamic 2nd-order SVSF method is a novel robust state estimation method that is based on the variable structure control theory. It benefits from the accuracy, robustness, and chattering suppression properties of second-order sliding mode systems for robust state estimation. The main contribution of this paper is to present and implement a new tracking strategy that is a combination of the dynamic 2nd-order SVSF with the IMM filter. It benefits from the robust performance of the dynamic 2nd-order SVSF and the switching property of the IMM filter. This strategy is simulated and examined under several car driving patterns and experimental position data that are captured by a GPS device. The robustness and efficiency of this strategy is then compared with the Kalman filter-based counterparts.

Friction Fault Detection of an Electrohydrostatic Actuator

2011 ◽  
Author(s):  
S. A. Gadsden ◽  
Y. Song ◽  
K. R. McCullough ◽  
S. R. Habibi
Keyword(s):  
Fault Detection ◽  
Detection Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Estimation Strategy ◽  
Operating Modes ◽  
Smooth Variable Structure Filter ◽  
Novel Model

This article discusses the application of a novel model-based fault detection method. The method is based on the interacting multiple model (IMM) strategy, which makes use of a finite number of known operating modes. A filter is used in conjunction with the IMM in order to estimate the states and parameters of the system. The smooth variable structure filter (SVSF) is a relatively new estimation strategy, and is based on sliding mode concepts which introduces an inherent amount of robustness and stability. The combined SVSF-IMM strategy is applied on an electrohydrostatic actuator (EHA), which is a device used in the aerospace industry. Two different operating modes were created, based on varying degrees of friction acting on the EHA cylinder. The results of the friction fault detection were compared with the popular Kalman filter (KF) based IMM strategy.

CONTROLLING THE UNCERTAIN MULTI-SCROLL CRITICAL CHAOTIC SYSTEM WITH INPUT NONLINEAR USING SLIDING MODE CONTROL

2009 ◽  
Vol 23 (16) ◽  
pp. 2021-2034 ◽  
Author(s):  
XINGYUAN WANG ◽  
DA LIN ◽  
ZHANJIE WANG
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Dead Zone ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Global Stabilization ◽  
Structure Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, control of the uncertain multi-scroll critical chaotic system is studied. According to variable structure control theory, we design the sliding mode controller of the uncertain multi-scroll critical chaotic system, which contains sector nonlinearity and dead zone inputs. For an arbitrarily given equilibrium point of the uncertain multi-scroll chaotic system, we achieve global stabilization for the equilibrium points. Particularly, a class of proportional integral (PI) switching surface is introduced for determining the convergence rate. Furthermore, the proposed control scheme can be extended to complex multi-scroll networks. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

scholarly journals Chattering-Free Single-Phase Robustness Sliding Mode Controller for Mismatched Uncertain Interconnected Systems with Unknown Time-Varying Delays

Energies ◽  
2020 ◽  
Vol 13 (1) ◽  
pp. 282 ◽  
Author(s):  
Cong-Trang Nguyen ◽  
Thanh Long Duong ◽  
Minh Quan Duong ◽  
Duc Tung Le
Keyword(s):  
Single Phase ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Structure Control ◽  
Time Varying Delay ◽  
Chattering Free ◽  
Varying Delay

Variable structure control with sliding mode can provide good control performance and excellent robustness. Unfortunately, the chattering phenomenon investigated due to discontinuous switching gain restricting their applications. In this paper, a chattering free improved variable structure control (IVSC) for a class of mismatched uncertain interconnected systems with an unknown time-varying delay is proposed. A sliding function is first established to eliminate the reaching phase in traditional variable structure control (TVSC). Next, a new reduced-order sliding mode estimator (ROSME) without time-varying delay is constructed to estimate all unmeasurable state variables of plants. Then, based on the Moore-Penrose inverse approach, a decentralized single-phase robustness sliding mode controller (DSPRSMC) is synthesized, which is independent of time delays. A DSPRSMC solves a complex interconnection problem with an unknown time-varying delay term and drives the system’s trajectories onto a switching surface from the initial time instance. Particularly, by applying the well-known Barbalat’s lemma, the chattering phenomenon in control input is alleviated. Moreover, a sufficient condition is established by using an appropriate Lyapunov theory and linear matrix inequality (LMI) method such that a sliding mode dynamics is asymptotically stable from the beginning time. Finally, a developed method is validated by numerical example with computer simulations.

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