0
TECHNICAL PAPERS

The Variable Structure Filter

[+] Author and Article Information
S. R. Habibi, R. Burton

University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada

J. Dyn. Sys., Meas., Control 125(3), 287-293 (Sep 18, 2003) (7 pages) doi:10.1115/1.1590682 History: Received April 16, 2002; Revised March 15, 2003; Online September 18, 2003
Copyright © 2003 by American Institute of Physics
Your Session has timed out. Please sign back in to continue.

References

Kalman,  R.E., 1960, “A New Approach to Linear Filtering and Prediction Problems,” ASME J. Basic Eng., 82, 35–45.
Brown, R.G., and Hwang, P.Y.C., 1997, “Introduction to Random Signals and Applied Kalman Filtering,” Third Edition, Wiley, New York.
Horton,  M.P., 1997, “Real-Time Identification of Missile Aerodynamics using Linearized Kalman Filter Aided by an Artificial Neural Network,” IEE Proc.: Control Theory Appl., 144 .
Sorenson,  H.W., 1970, “Least-Squares Estimation: From Gauss to Kalman,” IEEE Spectrum, 7, pp. 63–68.
Grewal, M.S., and Andews, A.P., 1993, “Kalman Filtering Theory and Practice,” Prentice-Hall, Englewood Cliffs, NJ.
Elbert, T.F., 1984, “Estimation and Control of Systems,” Van Nostrand Reinhold Company.
Utkin,  V.I., 1977, “Variable Structure Systems with Sliding Mode: A Survey,” IEEE Trans. Autom. Control, AC-22, pp. 212–222.
Utkin, V.I., 1978, “Sliding Mode and Their Application in Variable Structure Systems,” English translation, Mir Publication, Moscow.
Ryan,  E.P., and Corless,  M., 1984, “Ultimate Boundedness and Asymptotic Stability of a Class of Uncertain Dynamical Systems via Continuous and Discontinuous Feedback Control,” J. Math. Control and Information, 1, pp. 223–242.
Morgan,  R.G., and Ozguner,  U., 1985, “A Decentralised Variable Structure Control Algorithm for Robotic Manipulators,” IEEE J. Rob. Autom., RA-1 .
Yeung,  K.S., and Chen,  V.P., 1988, “A New Controller Design for Manipulators using the Theory of Variable Structure Systems,” IEEE Trans. Autom. Control, 33, pp. 200–206.
Habibi,  S.R., and Richards,  R.J., 1992, “Sliding Mode Control of an Electrically Powered Industrial Robot,” IEE Proc.-D: Control Theory Appl., 139, pp. 207–225.
Asada, H., and Slotine, J.J.E., 1986, Robot Analysis and Control, John Wiley Publications, New York.
Bailey,  E., and Arapostathis,  A., 1987, “Simple Sliding Mode Control Scheme Applied to Robot Manipulators,” Int. J. Control, 45, pp. 1197–1209.
Slotine,  J.J.E., 1984, “Sliding Controller Design for Nonlinear Systems,” Int. J. Control, 40, pp. 421–434.
Slotine,  J.J.E., 1985, “The Robust Control of Robot Manipulators,” Int. J. Robot. Res., 4, pp. 49–64.
Slotine,  J.J.E., and Coetsee,  J.A., 1986, “Adaptive Sliding Mode Control Synthesis for Nonlinear Systems,” Int. J. Control, 43, pp. 1631–1651.
Buhler, H., 1986, “Reglage par Mode de Glissement,” Press Polytechnique Romande.
Slotine,  J.J.E., Hedrick,  J.K., and Misawa,  E.A., 1987, “On Sliding Observers for Nonlinear Systems,” J. Dyn. Syst., Meas., Control, 109, pp. 245–252.
Walcott,  B.L., and Zak,  S.H., 1988, “Combined Observer-Controller Synthesis for Uncertain Dynamical Systems with Applications,” IEEE Trans. Syst. Man Cybern., 108, pp. 88–104.
Edwards,  C., and Spurgeon,  S.K., 1994, “On the Development of Discontinuous Observers,” Int. J. Control, 59, pp. 1211–1229.
Xu,  J.X., Jia,  Q.W., and Lee,  T.H., 2000, “On the Design of a Nonlinear Adaptive Variable Structure Derivative Estimator,” IEEE Trans. Autom. Control, 45, pp. 1028–1033.
Nise, N.S., 2000, “Control Systems Engineering,” Wiley, New York, Third Edition.
Habibi,  S.R., and Singh,  G., 2000, “Derivation of Design Requirements for Optimization of a High Performance Hydrostatic Actuation System,” International Journal of Fluid Power, 1, pp. 11–27.
Habibi,  S.R., and Goldenberg,  A.A., 2000, “Design of a New High Performance ElectroHydraulic Actuator,” IEEE Trans. on Mechatronics, 5, pp. 158–164.

Figures

Grahic Jump Location
System output. (a) Measured position; (b) measured velocity.
Grahic Jump Location
Comparison of the actual and the estimated states. (a) Position; (b) velocity; (c) acceleration.
Grahic Jump Location
Comparison of the state estimation error from the uncertain model with and without the VSF gain. (a) Position; (b) velocity; (c) acceleration.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In