Abstract  Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon the destructive highfrequency oscillations in internal states and control signal

Abstract Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon the destructive highfrequency oscillations in internal states and control signal - Description

One of the suggested routines to reduce chattering is to replace the discontinuity switching term in standard method form ulation with a saturation function Considering the fact th at saturation function with fixedgradient reduces the performance we ID: 22832 Download Pdf

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Abstract Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon the destructive highfrequency oscillations in internal states and control signal

One of the suggested routines to reduce chattering is to replace the discontinuity switching term in standard method form ulation with a saturation function Considering the fact th at saturation function with fixedgradient reduces the performance we

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Abstract Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon the destructive highfrequency oscillations in internal states and control signal




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Presentation on theme: "Abstract Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon the destructive highfrequency oscillations in internal states and control signal"— Presentation transcript:


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Abstract Sliding mode is an acknowledged nonlinear robust control method which suffers from chattering phenomenon, the destructive high-frequency oscillations in internal states and control signal. One of the suggested routines to reduce chattering is to replace the discontinuity switching term, in standard method form ulation, with a saturation function. Considering the fact th at saturation function, with fixed-gradient, reduces the performance; we utilize an adaptive-gradient saturation function to overcome this limitation. Reinforcement learning algorithm is employed to

find the instantaneous optimal value for the gradient of saturation function, with the ultimate goal of chattering reduction. The proposed intelligent sliding mode controller is applied to the tracking problem of chaotic Lorenz plant whereas the agent is rewarded (punished) for lower (higher) chattering. Simulation results are reported for standard and intelligent sliding mode controllers. The efficient control signal density as well as lower tracking error was attained after the agent learned the dynamics of the complex chaotic plant. Incorporating reinforcement learning into robust nonlinear

control theory shows a promising route to achieve better performance. Index Terms Sliding mode control, Reinforcement learning, Chattering reduction, Controlling chaos. Proceedings of the World Congress on Engineering 2013 Vol II, WCE 2013, July 3 - 5, 2013, London, U.K. ISBN: 978-988-19252-8-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2013
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978-988-19252-8-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2013
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Proceedings of the World Congress on Engineering 2013 Vol II, WCE 2013, July 3 - 5, 2013, London, U.K. ISBN: 978-988-19252-8-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2013
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cc 990 992 994 996 998 1000 1.9 1.95 2.05 2.1 (a) 200 400 600 800 1000 0.05 0.1 0.15 0.2 (b) time(s) 9990 9992 9994 9996 9998 10000 1.9 1.95 2.05 2.1 (a) 2000 4000 6000 8000 10000 0.05 0.1 0.15 0.2 (b) time(s) 2000 4000 6000 8000 10000 0.02 0.04 0.06 0.08 (a) 2000 4000 6000 8000 10000 0.05 0.1 0.15 0.2

(b) time(s) Proceedings of the World Congress on Engineering 2013 Vol II, WCE 2013, July 3 - 5, 2013, London, U.K. ISBN: 978-988-19252-8-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2013
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WWVV 900 920 940 960 980 1000 -100 100 200 (a) 9900 9920 9940 9960 9980 10000 -100 100 200 time(s) (b) Proceedings of the World Congress on Engineering 2013 Vol II, WCE 2013, July 3 - 5, 2013, London, U.K. ISBN: 978-988-19252-8-2 ISSN: 2078-0958 (Print); ISSN: 2078-0966 (Online) WCE 2013