Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers

Different time-discretization methods for equivalent-control based sliding mode control (ECB-SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the discretization of the equivalent part of the control input. Results from simulations using the various discretized SMC schemes are shown, with and without perturbations. They illustrate the different behaviours that can be observed. Stability results for the proposed scheme are derived

Periodic orbits from Δ-modulation of stable linear systems

The �-modulated control of a single input, discrete time, linear stable system is investigated. The modulation direction is given by cTx where c �Rn/{0} is a given, otherwise arbitrary, vector. We obtain necessary and sufficient conditions for the existence of periodic points of a finite order. Some concrete results about the existence of a certain order of periodic points are also derived. We also study the relationship between certain polyhedra and the periodicity of the �-modulated orbit

Comparison between explicit and implicit discrete-time implementations of sliding-mode controllers

International audienceDifferent time-discretization methods for sliding mode control (SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the discretization of the equivalent part of the control input. Results from simulations using the various discretized SMC schemes are shown, with and without perturbations. They illustrate the different behaviours that can be observed

Structural dynamics branch research and accomplishments to FY 1992

This publication contains a collection of fiscal year 1992 research highlights from the Structural Dynamics Branch at NASA LeRC. Highlights from the branch's major work areas--Aeroelasticity, Vibration Control, Dynamic Systems, and Computational Structural Methods are included in the report as well as a listing of the fiscal year 1992 branch publications

Nonlinear adaptive estimation with application to sinusoidal identification

Parameter estimation of a sinusoidal signal in real-time is encountered in applications in numerous areas of engineering. Parameters of interest are usually amplitude, frequency and phase wherein frequency tracking is the fundamental task in sinusoidal estimation. This thesis deals with the problem of identifying a signal that comprises n (n ≥ 1) harmonics from a measurement possibly affected by structured and unstructured disturbances. The structured perturbations are modeled as a time-polynomial so as to represent, for example, bias and drift phenomena typically present in applications, whereas the unstructured disturbances are characterized as bounded perturbation. Several approaches upon different theoretical tools are presented in this thesis, and classified into two main categories: asymptotic and non-asymptotic methodologies, depending on the qualitative characteristics of the convergence behavior over time. The first part of the thesis is devoted to the asymptotic estimators, which typically consist in a pre-filtering module for generating a number of auxiliary signals, independent of the structured perturbations. These auxiliary signals can be used either directly or indirectly to estimate—in an adaptive way—the frequency, the amplitude and the phase of the sinusoidal signals. More specifically, the direct approach is based on a simple gradient method, which ensures Input-to-State Stability of the estimation error with respect to the bounded-unstructured disturbances. The indirect method exploits a specific adaptive observer scheme equipped with a switching criterion allowing to properly address in a stable way the poor excitation scenarios. It is shown that the adaptive observer method can be applied for estimating multi-frequencies through an augmented but unified framework, which is a crucial advantage with respect to direct approaches. The estimators’ stability properties are also analyzed by Input-to-State-Stability (ISS) arguments. In the second part we present a non-asymptotic estimation methodology characterized by a distinctive feature that permits finite-time convergence of the estimates. Resorting to the Volterra integral operators with suitably designed kernels, the measured signal is processed, yielding a set of auxiliary signals, in which the influence of the unknown initial conditions is annihilated. A sliding mode-based adaptation law, fed by the aforementioned auxiliary signals, is proposed for deadbeat estimation of the frequency and amplitude, which are dealt with in a step-by-step manner. The worst case behavior of the proposed algorithm in the presence of bounded perturbation is studied by ISS tools. The practical characteristics of all estimation techniques are evaluated and compared with other existing techniques by extensive simulations and experimental trials.Open Acces

Comparison of NASTRAN analysis with ground vibration results of UH-60A NASA/AEFA test configuration

Preceding program flight tests, a ground vibration test and modal test analysis of a UH-60A Black Hawk helicopter was conducted by Sikorsky Aircraft to complement the UH-60A test plan and NASA/ARMY Modern Technology Rotor Airloads Program. The 'NASA/AEFA' shake test configuration was tested for modal frequencies and shapes and compared with its NASTRAN finite element model counterpart to give correlative results. Based upon previous findings, significant differences in modal data existed and were attributed to assumptions regarding the influence of secondary structure contributions in the preliminary NASTRAN modeling. An analysis of an updated finite element model including several secondary structural additions has confirmed that the inclusion of specific secondary components produces a significant effect on modal frequency and free-response shapes and improves correlations at lower frequencies with shake test data

Model quakes in the two-dimensional wave equation

This paper presents a new two-dimensional wave equation model of an earthquake fault. The model generates a complex sequence of slip events on a fault with uniform properties when there is a frictional weakening instability. Previous models of long faults in one and two dimensions had the driving in the bulk, giving the Klein-Gordon equation in the bulk. Here, I place the driving on the boundary; giving the wave equation in the bulk. The different models are, however, shown to behave similarly. I examine a whole range of frictions, with slip weakening as one end-member case and velocity weakening as the other end-member case, and show that they display a generic type of slip complexity: there is an exponential distribution of the largest events and, for sufficient weakening, a power law distribution of small events. With the addition of a viscous-type friction term on the fault, I show that the results are independent of grid resolution, indicating that continuum limit complexity is achieved

New Frontiers on Seismic Modeling of Masonry Structures

An accurate evaluation of the non-linear behavior of masonry structural elements in existing buildings still represents a complex issue that rigorously requires non-linear finite element strategies difficult to apply to real large structures. Nevertheless, for the static and seismic assessment of existing structures, involving the contribution of masonry materials, engineers need reliable and efficient numerical tools, whose complexity and computational demand should be suitable for practical purposes. For these reasons, the formulation and the validation of simplified numerical strategies represent a very important issue in masonry computational research. In this paper, an innovative macroelement approach, developed by the authors in the last decade, is presented. The proposed macroelement formulation is based on different, plane and spatial, macroelements for the simulation of both the in-plane and out-of-plane behavior of masonry structures also in presence of masonry elements with curved geometry. The mechanical response of the adopted macroelement is governed by non-linear zero-thickness interfaces, whose calibration follows a straightforward fiber discretization, and the non-linear internal shear deformability is ruled by equivalence with a corresponding geometrically consistent homogenized medium. The approach can be considered as "parsimonious" since the kinematics of the adopted elements is controlled by very few degrees of freedom, if compared to a corresponding discretization performed by using non-linear finite element method strategies. This innovative discrete element strategy has been implemented in two user-oriented software codes 3DMacro (Caliò et al., 2012b) and HiStrA (Historical Structures Analysis) (Caliò et al., 2015), which simplify the modeling of buildings and historical structures by means of several wizard generation tools and input/output facilities. The proposed approach, that represents a powerful tool for the structural assessment of structures in which the masonry plays a key role, is here validated against experimental results involving typical masonry monumental substructural elements and numerical results involving real-scale structures