Program - Southeast Universityautomation.seu.edu.cn/download/data/Summer School_Program.pdf · currently a Chair of TC on Variable Structure Systems and Sliding mode control of IEEE

Summer School 2015

Sliding-Mode Control and Observation

August 24-29, 2015,

Liu Yuan Hotel, Nanjing, China

Program

Organizers

IEEE CSS Technical Committee on Variable

Structure and Sliding Mode Control

&

Southeast University, China

Sponsor

The Priority Academic Program Development of

Jiangsu Higher Education Institutions

Summer School 2015


Opening Ceremony

9:00 AM - 9:15 AM, August 24, 2015 (Speaker: Prof. Haikun Wei)

9:15 AM - 9:30 AM, August 24, 2015 (Speaker: Prof. Leonid Fridman)

August 24, 2015 August 25, 2015

Morning (Prof. Leonid Fridman)

9:30 AM - 10:30 AM First Session

10:30 AM - 10:45 AM Tea Break

10:45 AM - 11:45 AM Second Session

11:45 AM - 12:00 AM Discussion Afternoon (Prof. Arie Levant)

2:30 PM - 3:30 PM First Session

3:30 PM - 3:45 PM Tea Break

3:45 PM - 4:45 PM Second Session

4:45 PM - 5:00 PM Discussion

August 26, 2015

Morning (Prof. Christopher Edwards)




11:15 AM - 11:30 AM Discussion Afternoon (Prof. Yuri B. Shtessel)





August 27, 2015

Morning (Prof. Leonid Fridman)




11:15 AM - 11:30 AM Discussion Afternoon (Prof. Zhihong Man)





August 28, 2015

Morning (Prof. Yuri B. Shtessel)




11:15 AM - 11:30 AM Discussion Afternoon (Prof. Shihua Li)





August 29, 2015

Morning (Prof. Yuanqing Xia)

9:00 AM - 10:00 AM First Session 10:00 AM - 10:15 AM Tea Break 10:15 AM - 11:15 AM Second Session 11:15 AM - 11:30 AM Discussion Afternoon (Prof. Ligang Wu)

2:30 PM - 3:30 PM First Session 3:30 PM - 3:45 PM Tea Break 3:45 PM - 4:45 PM Second Session 4:45 PM - 5:00 PM Discussion

Morning (Prof. Yong Feng)

9:00 AM - 10:00 AM First Session 10:00 AM - 10:15 AM Tea Break 10:15 AM - 11:15 AM Second Session 11:15 AM - 11:30 AM Discussion

Afternoon (Prof. Xinghuo Yu)

2:30 PM - 3:30 PM First Session 3:30 PM - 3:45 PM Tea Break 3:45 PM - 4:45 PM Second Session 4:45 PM - 5:00 PM Discussion

Closing Ceremony

5:00 PM – 5:30 PM, August 29, 2015 (Speaker: Prof. Xinghuo Yu)

Summer School 2015


Introductory Five Generations of Sliding Mode Controllers: Stages of Evolution

9:30 AM – 12:00 AM, August 24, 2015

Prof. Leonid Fridman

National Autonomous University of Mexico, Mexico

Chair: Prof. Shihua Li (Southeast University, China)

Abstract

The history and evolution of sliding control will be discussed. The reason for the crisis of

the first order sliding modes will be explained. The second order sliding mode control

algorithms and their specific features will be presented. The control chattering of the

continuous second order super-twisting control algorithm will be discussed. The precision

of the arbitrary order sliding mode controllers will be shown. The continuous arbitrary

order sliding mode controllers will be presented and discussed. Videos with the

experimental illustration of the properties of the main sliding mode algorithms will be

presented.

About the Speaker Leonid M. Fridman received an M.S. degree in mathematics

from Kuibyshev (Samara) State University, Samara, Russia, in

1976, a Ph.D. degree in applied mathematics from the Institute

of Control Science, Moscow, Russia, in 1988, and a Dr. Sc.

degree in control science from Moscow State University of

Mathematics and Electronics, Moscow, Russia, in 1998. From

1976 to 1999, he was with the Department of Mathematics,

Samara State Architecture and Civil Engineering University.

From 2000 to 2002, he was with the Department of

Postgraduate Study and Investigations at the Chihuahua

Institute of Technology, Chihuahua, Mexico. In 2002, he joined

the Department of Control Engineering and Robotics, Division

of Electrical Engineering of Engineering Faculty at National Autonomous University of

Mexico (UNAM), Mexico. His research interests are variable structure systems. He is

currently a Chair of TC on Variable Structure Systems and Sliding mode control of IEEE

Control Systems Society. Professor Fridman is an Associated Editor of the Journal of

Franklin Institute, Nonlinear Analysis: Hybrid Systems, and the Conference Editorial

Board of IEEE Control Systems Society. He is an author and editor of seven books and 12

special issues and author of more than 350 technical papers on sliding mode control. He

is a winner of Scopus prize for the best cited Mexican Scientists in Mathematics and

Engineering 2010. He was working as an invited professor in 20 universities and research

centers of Argentina, Australia, France, China, Germany, Italy, Israel, and Spain.

Summer School 2015


Homogeneous Sliding Modes and Universal Black-Box Control

2:30 PM – 5:00 PM, August 24, 2015

Prof. Arie Levant

Tel-Aviv University, Israel


Abstract Sliding Modes (SMs) are used to control uncertain dynamic systems by keeping properly chosen outputs at zero. In the Single-Input Single-Output (SISO) case the problem can be reformulated as a black-box control problem. In some cases the very existence of a mathematical model is redundant, and one can design control using only some dynamic input-output relation properties. Thus, the problem of SM Control (SMC) is naturally reformulated as the problem of the finite-time stabilization of a differential inclusion. The main idea is to design a control, producing a closed-loop differential inclusion of a negative homogeneity degree. Coordinate homogeneity and finite-time stability of differential inclusions are studied. The asymptotic accuracy of disturbed finite-time-stable homogeneous differential inclusions is calculated. In particular, the stabilization accuracy is calculated in the presence of noises and variable delays. Universal SM controllers are designed for SISO systems with known relative degrees. Robust exact differentiators of any order are constructed to be applied in the output-feedback control. Asymptotic SM accuracies are calculated and shown to be optimal under conditions of discrete noisy sampling and zero-hold control. The presented output-feedback SM controllers are proved to be robust to the presence of the singular stable dynamics of unaccounted-for actuators and sensors, and to small system disturbances, changing the system relative degree. In some cases no mathematical model is available, and one can design control using only some dynamic input-output relation properties. A practical relative degree notion is presented and its application is demonstrated. The results are extended to multi-input multi-output (MIMO) systems. The effects of the Euler discretization of the internal dynamics of differentiators and controllers are studied, and the optimal asymptotic accuracy is shown to be preserved in the homogeneous output-feedback MIMO case. A modified discretization scheme is recommended to be used, if the differentiator is used outside of the homogeneous SMC feedback.

About the Speaker Prof. Arie Levant received his M.S. degree in Differential Equations from the Moscow State University, USSR, in 1980, and his Ph.D. degree in Control Theory from the Institute for System Studies (ISI) of the USSR Academy of Sciences (Moscow) in 1987. In 1980-1989 he was with ISI (Moscow). In 1990-1992 he was with the Mechanical Engineering and Mathematical Depts. of the Ben-Gurion University (Beer-Sheva, Israel), in 1993-2001 he was a Senior Analyst at the Institute for Industrial Mathematics (Beer-Sheva, Israel). Since 2001 he is with the Applied Mathematics Dept. of the Tel-Aviv University (Israel). His professional activities have been concentrated in nonlinear control theory, stability theory, image processing and

numerous practical research projects in these and other fields. His main results include the proposal and development of high-order sliding-mode (HOSM) theory, the proposal and development of arbitrary-order real-time robust exact differentiators based on sliding modes and of universal arbitrary-order output-feedback HOSM controllers.

Summer School 2015


Sliding Mode Observers and Their Application to Fault Detection Problems

9:00 AM – 11:30 AM, August 25, 2015

Prof. Christopher Edwards

University of Exeter, United Kingdom

Chair: Prof. Junyong Zhai (Southeast University, China)

Abstract

The sliding mode methodology has been proved to be effective in dealing with complex

dynamical systems affected by disturbances, uncertainties and un-modelled dynamics.

Robust controllers can be developed exploiting the well-known insensitivity properties of

sliding modes to so-called matched uncertainties. However these robustness properties

have also been exploited in the development of nonlinear observers for state and

unknown input estimation. The talks will explain how sliding mode ideas can be

exploited to create robust observer based fault detection schemes (in fact typically fault

estimation schemes). Practical real engineering examples and case studies will be

considered to demonstrate the features and advantages of using sliding modes in a fault

detection and fault tolerant control context. In particular examples of these techniques

applied to problems in the aerospace field will be presented.

About the Speaker

Prof. Christopher Edwards began his academic career in the

department of Engineering at the University of Leicester as a

Lecturer in 1996.He was promoted to Senior Lecturer in

2004, Reader in 2008 and awarded a Personal Chair in 2010.

He is a member of the IEEE and a member of the IMA. He is

currently a Professor of Control Engineering in the College of

Engineering, Mathematics and Physical Sciences at the

University of Exeter, UK. He is currently a vice-chair of TC on

Variable Structure Systems and Sliding mode control of IEEE

Control Systems Society and a subject editor for the

International Journal of Robust and Nonlinear Control. His current research interests are

in sliding mode control and observation, and their application to fault detection and fault

tolerant control problems. He is the author of over 300 refereed papers and three books:

'Sliding mode control - theory and applications' (1998), 'Fault Detection and Fault Tolerant

Control using Sliding Modes' (2011), and 'Sliding Mode Control and Observation' (2014).

In addition he recently co-edited the monograph 'Fault Tolerant Flight Control: a

Benchmark Challenge' (2010) based on the GARTEUR activities.

Summer School 2015


Output Tracking in Nominimum Phase Systems in Sliding Modes

2:30 PM – 5:00 PM, August 25, 2015

Prof. Yuri B. Shtessel

The University of Alabama in Huntsville, United States of America

Chair: Prof. Junyong Zhai (Southeast University, China)

Abstract

Approaches for output feedback tracking in nonminimum phase, multi-input-multi-output

(MIMO) uncertain nonlinear systems withenhanced causality are discussed in this

presentation. The control methodology that is based on the conventional and higher order

sliding mode techniques and the principles of least-squares estimation are employed. The

local asymptotic stability of the output tracking error dynamics along with boundedness of

the unstable internal states is discussed are achieved. The full state vector and matched

external disturbance are reconstructed for finding a bounded solution of the internal

dynamics. Three case studies, the causal output tracking in nonminimum phase boost

DC/DC converter, power factor correction of 3-phase boost AC/DC converter, and

nonminimum phase flight control of f-16 jet fighter are considered.

About the Speaker

Yuri B. Shtessel received the M.S. and Ph.D. degrees in

Electrical Engineering with concentration in Automatic Control

from the South Ural State University, Chelyabinsk, Russia in

1971 and 1978, respectively. Since 1993, he has been with

the Electrical and Computer Engineering Department, The

University of Alabama in Huntsville, where his present

position is Distinguished Professor. His research interests

include sliding mode control and observation with applications

to aerospace vehicle control, electric power system, and

communication network control. He has published a book on

“Sliding Mode Control and Observation” and more than 330

technical papers. Dr. Shtessel is a co-editor of four special journal issues on sliding mode

and nonlinear control and observation. He is a Subject Editor of the Journal of Franklin

Institute. He also has served as a visiting professor in many universities and scientific

centers including UK and France. Dr. Shtessel is a recipient of the IEEE Third Millennium

Medal for the outstanding contributions to control systems engineering, 2000. He holds

the ranks of Associate Fellow of AIAA and Senior Member of IEEE.

Summer School 2015


Higher Order Sliding Modes Based Observation and Identification

9:00 AM – 11:30 AM, August 26, 2015

Prof. Leonid Fridman

National Autonomous University of Mexico, Mexico

Chair: Dr. Shihong Ding (Jiangsu University, China)

Abstract

Higher-order sliding mode based observers can be considered as a successful technique

for the state observation of perturbed systems, due to their high precision and robust

behavior with respect to parametric uncertainties. The existence of a direct relationship

between differentiation and the observability problem makes sliding mode based

differentiators a technique that can be applied directly for state reconstruction. Even when

the differentiators appear as a natural solution to the observation problem, the use of the

system knowledge for the design of an observation strategy results in a reduction in the

magnitude of the gains for the sliding mode compensation terms. Moreover, complete or

partial knowledge of the system model facilitates the application of the techniques to

parametric reconstruction or disturbance reconstruction.

About the Speaker Leonid M. Fridman received an M.S. degree in mathematics

from Kuibyshev (Samara) State University, Samara, Russia, in

1976, a Ph.D. degree in applied mathematics from the Institute

of Control Science, Moscow, Russia, in 1988, and a Dr. Sc.

degree in control science from Moscow State University of

Mathematics and Electronics, Moscow, Russia, in 1998. From

1976 to 1999, he was with the Department of Mathematics,

Samara State Architecture and Civil Engineering University.

From 2000 to 2002, he was with the Department of

Postgraduate Study and Investigations at the Chihuahua

Institute of Technology, Chihuahua, Mexico. In 2002, he joined

the Department of Control Engineering and Robotics, Division

of Electrical Engineering of Engineering Faculty at National Autonomous University of

Mexico (UNAM), Mexico. His research interests are variable structure systems. He is

currently a Chair of TC on Variable Structure Systems and Sliding mode control of IEEE

Control Systems Society. Professor Fridman is an Associated Editor of the Journal of

Franklin Institute, Nonlinear Analysis: Hybrid Systems, and the Conference Editorial

Board of IEEE Control Systems Society. He is an author and editor of seven books and 12

special issues and author of more than 350 technical papers on sliding mode control. He

is a winner of Scopus prize for the best cited Mexican Scientists in Mathematics and

Engineering 2010. He was working as an invited professor in 20 universities and research

centers of Argentina, Australia, France, China, Germany, Italy, Israel, and Spain.

Summer School 2015


Sliding Mode Control for Steer-by-Wire Systems

2:30 PM – 5:00 PM, August 26, 2015

Prof. Zhihong Man

Swinburne University of Technology, Australia

Chair: Dr. Shihong Ding (Jiangsu University, China)

Abstract It has been predicted by the engineers and scientists in vehicle dynamics & control area that steer-by-wire (SbW) systems will play a key role for the stability control of next generation of road vehicles. The most distinguished features of anSbW system are that the mechanical shaft that links the hand-wheel to the front wheels in conventional steering systems is removed, and two electric motors are used to steer the front wheels and provide a driver with a feeling of the steering effort, respectively. The benefits of using SbW in road vehicles are that both the overall steering performance and cruising comforts can be improved, driving safety can be enhanced, and power consumption and long-term cost can be further reduced. In this talk, the mathematical modelling of anSbW system is first explored based on the bicycle model of road vehicles. The sliding mode control (SMC) technique is then used to design the steering control, returnability control and steering effort feeling control algorithms for the SbW systems with uncertain dynamics in road vehicles. Compared with conventional control techniques, the SMC can ensure that the effects of uncertainties in both self-aligning torque and vehicle parameters can be eliminated and the steered angle can asymptotically follow the reference signal provided by the driver through the hand-wheel. In addition, the lateral dynamics parameters of road vehicles can be accurately estimated on-line in the closed-loop sliding mode steering system, and the estimated lateral vehicle dynamics can then be employed for developing the fault detection and diagnosis of road vehicles, designing lane-keeping algorithm, and improving many other intelligent characteristics of road vehicles. At the end of this talk, the excellent performance of the “sliding mode car” designed by Lishui CA SbW Technical Company will be demonstrated in terms of a short video presentation, and the practical design experiences of SMC in SbW will be communicated with the audiences.

About the Speaker Prof. Zhihong Man received his B.Eng degree from Shanghai Jiaotong University, China, in 1982, M.Sc degree from Chinese Academy of Sciences in 1987, and PhD Zhihong is currently the Professor of Robotics and Mechatronics in the Faculty of Science, Engineering and Technology at Swinburne University of Technology, Melbourne, Australia. His research interests are in nonlinear control, signal processing, robotics, neural networks, fuzzy systems, engineering optimization, diagnosis of industrial systems, vehicle dynamics and control. He has been involved in many international conferences in control, robotics, signal processing, neural networks and industrial electronics as General Chair, Program Committee Chair, Track Chair, Session Chair, and the International Advisory Committee and Technical Committees member, including the Chair of the

Technical Committee of the third IEEE International Conference on Industrial Electronics and Applications (ICIEA 2008) and the Co-Chair of the Program Committee of the Fourth IEEE International Conference on Industrial Electronics and Applications (ICIEA 2009).

Summer School 2015


Adaptive Sliding Modes

9:00 AM – 11:30 AM, August 27, 2015

Prof. Yuri B. Shtessel

The University of Alabama in Huntsville, USA

Chair: Dr. Jun Yang (Southeast University, China)

Abstract Sliding mode control (SMC) remains, probably, the most popular method for handling

bounded perturbations with known bounds. The unknown bounds of the perturbations can

be tackled using adaptive SMC techniques. In this presentation, adaptive conventional

and second order sliding mode algorithms, derived based on Lyapunov function

techniques are presented. A special feature of the discussed adaptive

SMC/2-SMC/HOSM algorithms is the possibility to decrease the sliding mode control

gains in order not to overestimate them. This feature yields reduced control chattering.

Specifically, novel adaptive-gain conventional, twisting and super-twisting controllers that

are robust to the bounded disturbances with the unknown boundaries are presented. The

adaptive HOSM algorithm based on reconstruction of the equivalent control is also

discussed. The presented adaptive SMC/2-SMC/HOSM algorithms are derived using the

Lyapunov function techniques. It is shown that an ideal or real second order sliding mode

is established, and the adaptation algorithms do not overestimate the control gains. The

efficacy of the proposed adaptive sliding mode control algorithms are verified

experimentally and via simulations on a variety of case studies.

About the Speaker

Yuri B. Shtessel received the M.S. and Ph.D. degrees in

Electrical Engineering with concentration in Automatic Control

from the South Ural State University, Chelyabinsk, Russia in

1971 and 1978, respectively. Since 1993, he has been with

the Electrical and Computer Engineering Department, The

University of Alabama in Huntsville, where his present

position is Distinguished Professor. His research interests

include sliding mode control and observation with applications

to aerospace vehicle control, electric power system, and

communication network control. He has published a book on

“Sliding Mode Control and Observation” and more than 330

technical papers. Dr. Shtessel is a co-editor of four special journal issues on sliding mode

and nonlinear control and observation. He is a Subject Editor of the Journal of Franklin

Institute. He also has served as a visiting professor in many universities and scientific

centers including UK and France. Dr. Shtessel is a recipient of the IEEE Third Millennium

Medal for the outstanding contributions to control systems engineering, 2000. He holds

the ranks of Associate Fellow of AIAA and Senior Member of IEEE.

Summer School 2015


Sliding Mode Control for Nonlinear Systems with Mismatched Disturbances

and Its Applications to Mechatronic Systems

2:30 PM – 5:00 PM, August 27, 2015

Prof. Shihua Li

Southeast University, China

Chair: Dr. Jun Yang (Southeast University, China)

Abstract

Most of existing results on sliding mode control are concentrated on the matched uncertainties attenuation since the sliding phase of traditional SMC is only insensitive to matched disturbances and uncertainties but sensitive to mismatched uncertainties. In the presence of mismatched disturbances/uncertainties, there are mainly two categories of SMCs. The first category mainly focuses on the stability (or robust stability) of various systems under mismatched uncertainties using some classical control design tools, such as Riccati approach and LMI-based approach. The second category is referred to as integral sliding model control (I-SMC). Note that those two categories of SMC methods deal with the mismatched uncertainties in a robust way, which implies that the uncertainty attenuation ability is achieved at the price of sacrificing its nominal control performance. Moreover, the chattering problem in these methods is still a severe problem to be solved. In this talk, we advocate a set of novel sliding mode control methods to counteract the mismatched uncertainties in the system via nonlinear disturbance observers (NDOs). The mismatched uncertainties under consideration are possibly non-vanishing and do not necessarily satisfy the condition of H2 norm-bounded. By designing a new sliding surface based on the disturbance estimation, the system states can be driven to the desired equilibrium asymptotically or in finite time. A reaching control law is then designed to force the initial states to reach the designed sliding surface. There are two remarkable features for this stream of control methods. First, the chattering problem can be alleviated and even totally avoided since the disturbances/uncertainties have been directly handled by NDOs and the discontinuous injection term in the control law is indeed unnecessary. Second, the new SMC methods retain its nominal performance since the NDOs serve like a patch to the baseline controller and do not cause any adverse effects on the system in the absence of disturbances/uncertainties. Applications of the new SMC approaches to Mechatronic Systems are also covered in this talk.

About the Speaker Shihua Li received his bachelor, master, Ph.D. degrees all in Automatic Control from Southeast University, Nanjing, China in 1995, 1998 and 2001, respectively. Since 2001, he has been with School of Automation, Southeast University, where he is currently a professor. His main research interests include modeling and nonlinear control theory (nonsmooth control, disturbance rejection control, adaptive control, etc) with applications to mechatronic systems, including motion control，power electronics, manipulator, robot, flight control systems and others. He serves as Editors of IET Power Electronics, International Journal of Electronics, Journal of Power Electronic, Mathematical Problems in Engineering, and Guest Editors of International Journal of Robust and Nonlinear Control, IET

Control Theory & Applications. He is a Senior Member of IEEE CSS, IES and PELS, the vice chairman of IEEE CSS Nanjing Chapter, a member of Technical Committee on System Identification and Adaptive Control of the IEEE Control System Society.

Summer School 2015


Compound Control Methodology for Flight Vehicles

9:00 AM – 11:30 AM, August 28, 2015

Prof. Yuanqing Xia

Beijing Institute of Technology, China

Chair: Dr. Xiangyu Wang (Southeast University, China)

Abstract

This talk focuses on compound control methodology for flight vehicles. First some new

developments of SMC are presented. Second, both SMC and ADRC have their own

advantages and limitations, i.e., chattering of SMC and the observability of extended state

observer (ESO), respectively, and the concept of compound control is introduced.

Compound control combines their advantages and improves the performance of the

closed-loop systems. Finally, these methods are adopted to control of multi-flight vehicles.

About the Speaker

Yuanqing Xia received his M.S. degree in Fundamental

Mathematics from Anhui University, China, in 1998 and his Ph.D.

degree in Control Theory and Control Engineering from Beijing

University of Aeronautics and Astronautics, Beijing, China, in

2001. His current research interests are in the fields of networked

control systems, robust control and signal processing, active

disturbance rejection control and flight control. He is an Editor in

deputy of the Journal of the Beijing Institute of Technology,

Associate Editor of Acta Automatica Sinica, Control Theory and

Applications, International Journal of Innovative Computing,

Information and Control, International Journal of Automation and Computing. He obtained

the Second Award of the Beijing Municipal Science and Technology (No. 1) in 2010, the

Second National Award for Science and Technology (No. 2) in 2011, and the Second

Natural Science Award of The Ministry of Education (No. 1) in 2012.

Summer School 2015


Sliding Mode Control of Parameter-Switching Hybrid Systems

2:30 PM – 5:00 PM, August 28, 2015

Prof. Ligang Wu

Harbin Institute of Technology, China

Chair: Dr. Xiangyu Wang (Southeast University, China)

Abstract

Since the 1950's, sliding mode control (SMC) has been recognized as an effective robust

control strategy for nonlinear systems and incompletely modeled systems. SMC has been

successfully applied to a wide variety of systems such as uncertain systems, time-delay

systems, stochastic systems, and some real world applications including robot

manipulators, underwater vehicles, aircraft, spacecraft, electrical motors, power systems,

and automotive engines. This presentation will cover recent developments in the theory

for SMC of parameter-switching hybrid systems. The main aim is to present up-to-date

research and novel methodologies on stability/performance analysis and SMC design of

parameter-switching hybrid systems in a unified matrix inequality setting. The considered

systems include singular Markovian jump systems, switching hybrid systems, and

switched stochastic hybrid systems. These new methodologies provide a framework for

stability and performance analysis, SMC design, state estimation for these classes of

systems. Solutions to the design problems are presented in terms of linear matrix

inequalities.

About the Speaker Ligang Wu received the B.S. degree in Automation from Harbin University of Science and Technology, China in 2001; the M.E. degree in Navigation Guidance and Control from Harbin Institute of Technology, China in 2003; the PhD degree in Control Theory and Control Engineering from Harbin Institute of Technology, China in 2006. From January 2006 to April 2007, he was a Research Associate in the Department of Mechanical Engineering, The University of Hong Kong, Hong Kong. From September 2007 to June 2008, he was a Senior Research Associate in the Department of Mathematics, City University of Hong Kong, Hong Kong. From December 2012 to December 2013, he was a Research Associate in the Department of Electrical and Electronic Engineering, Imperial College London, London, UK. In 2008, he joined the Harbin Institute of

Technology, China, as an Associate Professor, and was then promoted to a Professor in 2012.Prof. Wu currently serves as an Associate Editor for a number of journals, including IEEE Transactions on Automatic Control, IEEE/ASME Transactions on Mechatronics, Information Sciences, Signal Processing, and IET Control Theory and Applications. He is also an Associate Editor for the Conference Editorial Board, IEEE Control Systems Society. His current research interests include switched hybrid systems, computational and intelligent systems, sliding mode control, optimal filtering, and model reduction.

Summer School 2015


Nonsingular Terminal SMC Methodology and Applications

9:00 AM – 11:30 AM, August 29, 2015

Prof. Yong Feng

Harbin Institute of Technology, China


Abstract Sliding-mode control (SMC) has attracted significant amount of interest due to its fast global convergence, simplicity of implementation, order reduction, high robustness to external disturbances and insensitivity to model errors and system parameter variations. Therefore SMC has been widely used in many applications, including electrical, mechanical, chemical, industrial, civil, military, aeronautical, and aerospace engineering. SMC includes conventional linear sliding-mode (LSM) control and terminal sliding-mode (TSM) control. The former is asymptotically stable, while the latter is finite-time stable. Compared to LSM control, TSM control exhibits various superior properties such as fast and finite-time convergence and smaller steady-state tracking errors. However the singularity problems in TSM control need to be addressed appropriately. Three non-singular TSM control methods are introduced. Firstly a new TSM manifold is proposed for the second-order system to enable the elimination of the singularity problem. The parameters in TSM are inverted to avoid negative exponential term appearing in the controller after differentiation. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. It resolves the singularity problem completely via the design of the TSM manifold, and can be extended to a special class of high-order systems. Secondly, a saturation function based TSM control is presented to overcome the singularity problem of TSM control systems. The system behaviors in both the reaching phase and the ideal sliding-mode are analyzed. A global nonsingular TSM control strategy is developed to guarantee the finite-time reachability of the systems to the TSM manifold and the finite-time convergence of the systems towards the origin along the TSM manifold. Thirdly, a full-order TSM manifold is utilized to avoid the singularity. Different from the traditional computable or measurable sliding-mode manifolds, the new sliding-mode manifolds are designed to be neither computable nor measurable. During the ideal sliding-mode motion, the systems using the proposed control strategy behave as desirable full-order dynamics, rather than reduced-order dynamics. Chattering reduction in nonsingular TSM control is studied as well. Many case studies will be presented, including the control of permanent-magnet synchronous motors (PMSMs) and induction motors (IMs), the energy-saving control of AC motors, the grid control for wind energy conversion systems, the rotor position and speed estimation of PMSMs, the flux estimation of IMs, the mechanical parameters estimation of complex mechanical systems, the mechanical resonance supressing of servo systems, the network behavior anomaly detection in TCP/IP networks.

About the Speaker Yong Feng received the B.Eng. degree in control engineering, the M.Eng. degree in electrical engineering, and the Ph.D. degree in control engineering from the Harbin Institute of Technology, Harbin, China, in 1982, 1985, and 1991, respectively. He is currently a Professor with the Department of Electrical Engineering, Harbin Institute of Technology. He is a honorary principal research fellow in the School of Electrical and Computer Engineering, RMIT University, Australia. He is an IEEE Senior member. His research interests include sliding-mode control, mechatronics, electrical engineering, robot control, motion and process control, sampled data systems, chaos control, image processing and encryption.

http://scholar.google.com.au/citations?view_op=search_authors&hl=en&mauthors=label:mechatronics

Summer School 2015


Finite-Time Sliding Mode Control in Continuous and Discrete Time

2:30 PM – 5:00 PM, August 29, 2015

Prof. Xinghuo Yu

RMIT University, Australia & Southeast University, China


Abstract

Sliding mode control (SMC) has been studied and used extensively due to its robustness and simplicity. Central to SMC is the sliding motion which is induced by a disruptive (discontinuous) control forcing the states of the controlled system into some prescribed switching manifolds which exhibit desired performance characteristics. Finite-time reachability of the switching manifolds is required in order to induce the system states into the sliding motion underpinned by the switching manifolds. In conventional SMC, asymptotical convergence is embedded in these switching manifolds. In recent years, finite-time SMC has been proposed that enables finite-time reachability of the system equilibrium points in the specially designed nonlinear switching manifolds. The advantage of such a control strategy is the enhanced robustness and higher steady states precision. In this talk, we will first introduce the basics of finite-time SMC, and then present an overview of its recent developments in theory and applications. In particular, we will investigate the gap between the very finite-time SMC theory in the continuous-time, and discrete-time domains, respectively, and how to bridge the gap. The discussions will be accompanied by various simulation studies.

About the Speaker

Xinghuo Yu received BEng and MEng degrees from the

University of Science and Technology of China, Hefei, China,

in 1982 and 1984, respectively, and PhD degree from

Southeast University, Nanjing, China in 1988. He is currently

with RMIT University (Royal Melbourne Institute of

Technology), Melbourne, Australia, where he is the Founding

Director of RMIT Platform Technologies Research Institute.

Professor Yu's research interests include variable structure

and nonlinear control systems, complex and intelligent

systems and applications. He received a number of awards

and honors for his achievements, including the 2013 Dr.-Ing.

Eugene Mittelmann Achievement Award of IEEE Industrial Electronics Society and 2012

IEEE Industrial Electronics Magazine Best Paper Award. He holds fellowship of IEEE,

Institution of Engineering and Technology (UK), Engineers Australia, Australian Computer

Society, Australian Institute of Company Directors, and International Energy Foundation.

He is also an IEEE Distinguished Lecturer and Vice-President (Publications) of IEEE

Industrial Electronics Society.

Summer School 2015


Transportation (Nanjing Metro Lines)

SEU

Summer School 2015


Restaurants around Southeast University

Liu Yuan Hotel

Restaurants

Documents

Program - Southeast Universityautomation.seu.edu.cn/download/data/Summer School_Program.pdf · currently a Chair of TC on Variable Structure Systems and Sliding mode control of IEEE