A Novel Fuzzy Logic Based Adaptive Supertwisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems

This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the proposed controller is well suited for simple design and implementation. The effectiveness of the proposed controller over the first order Sliding Mode Fuzzy Logic controller is illustrated by Matlab based simulations performed on a DC-DC Buck converter. Based on this comparison, the proposed controller is shown to obtain the desired transient response without causing chattering and error under steady-state conditions. The proposed controller is able to give robust performance in terms of rejection to input voltage variations and load variations.Comment: 14 page

A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

A Terminal Sliding Mode Controller for Electric Spring

This paper mainly designs a terminal sliding mode controller (SMC) that can optimize the dynamic and static performance of the electric spring (ES) under the complex load environment on the user side, and improve the anti-interference ability of the ES. Firstly, the user-side ES-containing supply and distribution network (SDN) was modelled and analyzed, and then, the sliding surface and control rate was designed. Next, a reference voltage generation method was introduced, the stabilization conditions of the ES-containing SDN were identified, and the principles of parameter setting for the SMC were expounded. Finally, the proposed terminal SMC was proved feasible through simulations and dSPACE-based physical experiments and found to outperform the linear SMC in adaptability and dynamic and static performance

Wind tunnel evaluation of YF-12 inlet response to internal airflow disturbances with and without control

The response of terminal-shock position and static pressures in the subsonic duct of a YF-12 aircraft flight-hardware inlet to perturbations in simulated engine corrected airflow were obtained with and without inlet control. Frequency response data, obtained with inlet controls inactive, indicated the general nature of the inherent inlet dynamics, assisted in the design of controls, and provided a baseline reference for responses with active controls. All the control laws were implemented by means of a digital computer that could be programmed to behave like the flight inlet's existing analog control. The experimental controls were designed using an analytical optimization technique. The capabilities of the controls were limited primarily by the actuation hardware. The experimental controls provided somewhat better attenuation of terminal shock excursions than did the YF-13 inlet control. Controls using both the forward and aft bypass systems also provided somewhat better attenuation than those using just the forward bypass. The main advantage of using both bypasses is in the greater control flexibility that is achieved

Global Tracking Passivity--based PI Control of Bilinear Systems and its Application to the Boost and Modular Multilevel Converters

This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to ensure global tracking of (admissible, differentiable) trajectories with a simple linear time--varying PI controller. Instrumental to establish the result is the construction of an output signal with respect to which the incremental model is passive. The result is applied to the boost and the modular multilevel converter for which experimental results are given.Comment: 9 pages, 10 figure

Prime movers : mechanochemistry of mitotic kinesins

Mitotic spindles are self-organizing protein machines that harness teams of multiple force generators to drive chromosome segregation. Kinesins are key members of these force-generating teams. Different kinesins walk directionally along dynamic microtubules, anchor, crosslink, align and sort microtubules into polarized bundles, and influence microtubule dynamics by interacting with microtubule tips. The mechanochemical mechanisms of these kinesins are specialized to enable each type to make a specific contribution to spindle self-organization and chromosome segregation

Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles

In this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment

MutS regulates access of the error-prone DNA polymerase Pol IV to replication sites: a novel mechanism for maintaining replication fidelity

Translesion DNA polymerases (Pol) function in the bypass of template lesions to relieve stalled replication forks but also display potentially deleterious mutagenic phenotypes that contribute to antibiotic resistance in bacteria and lead to human disease. Effective activity of these enzymes requires association with ring-shaped processivity factors, which dictate their access to sites of DNA synthesis. Here, we show for the first time that the mismatch repair protein MutS plays a role in regulating access of the conserved Y-family Pol IV to replication sites. Our biochemical data reveals that MutS inhibits the interaction of Pol IV with the β clamp processivity factor by competing for binding to the ring. Moreover, the MutS–β clamp association is critical for controlling Pol IV mutagenic replication under normal growth conditions. Thus, our findings reveal important insights into a non-canonical function of MutS in the regulation of a replication activity.Fil: Margara, Lucía. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Centro de Investigaciones en Química Biológica de Córdoba. Universidad Nacional de Córdoba. Facultad de Ciencias Químicas. Centro de Investigaciones en Química Biológica de Córdoba; ArgentinaFil: Fernández, Marisa Mariel. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Malchiodi, Emilio Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Argaraña, Carlos Enrique. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Centro de Investigaciones en Química Biológica de Córdoba. Universidad Nacional de Córdoba. Facultad de Ciencias Químicas. Centro de Investigaciones en Química Biológica de Córdoba; ArgentinaFil: Monti, Mariela Roxana. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Centro de Investigaciones en Química Biológica de Córdoba. Universidad Nacional de Córdoba. Facultad de Ciencias Químicas. Centro de Investigaciones en Química Biológica de Córdoba; Argentin

Model Predictive torque vectoring control for electric vehicles near the limits of handling

In this paper we propose a constrained optimal control architecture to stabilize a vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model is employed to find reference steady-state cornering conditions as well as to design a linear Model Predictive Control (MPC) strategy using the rear wheels' slip ratios as input. A Sliding Mode Slip Controller then calculates the necessary motor torques according to the requested wheel slip ratios. After analysing the relative trade-offs between performance and computational effort for the MPC strategy, we validate the controller and compare it against a simpler unconstrained optimal control strategy in a high fidelity simulation environment

Review of sliding mode control application in autonomous underwater vehicles

973-984This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness