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- 저자 : Nabil Derbel (검색결과 2 건)
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Observer Based Adaptive Neuro-Sliding Mode Control for MIMO Nonlinear Systems
Slim Frikha,Mohamed Djemel,Nabil Derbel 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
In this paper, a stable adaptive neural sliding mode controller is developed for a class of multivariable uncertain nonlinear systems. For these systems not all state variables are available for measurements. By designing a state observer, adaptive neural systems, which are used to model unknown functions, can be constructed using the state estimations. Based on Lyapunov stability theorem, the proposed adaptive neural control system can guarantee the stability of the whole closed loop system and obtain good tracking performances. Adaptive laws are proposed to adjust the free parameters of the neural models. Simulation results illustrate the design procedure and demonstrate the tracking performances of the proposed controller.
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A New Adaptive Neuro-sliding Mode Control for Gantry Crane
Slim Frikha,Mohamed Djemel,Nabil Derbel 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2
This paper presents a new adaptive neuro-sliding mode control for gantry crane as varying rope length. This control method derived from combining the sliding surfaces of three subsystem of the gantry crane (trolley position, rope length, anti-swing) to draw out two system sliding surfaces: the trolley position with the anti-swing and the rope length and the anti-swing. On the based of the sliding mode control principle, drawn out the equivalent controller and the switching controller for gantry crane. But due to the uncertain parameters-nonlinear model of gantry crane with the bound disturbances, combining the neural approximate method, defined the neural controller and the compensation controller for the difference between the equivalent controller and the neural controller for two system control inputs: trolley position and rope length. The adaptive control laws for these controllers were deduced from Lyapunov’s stable criteria to asymptotically stabilize the sliding surfaces. Simulation studies are performed to illustrate the effectiveness of the proposed control.
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