IEEE Transactions on Industrial Electronics

Volume 56, Number 9, Sept 2009 Access to the journal on IEEE XPLORE IE Transactions Home Page

56.9.1	O. Kaynak, A. Bartoszewicz, V. I. Utkin, "Guest Editor," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3271-3274, Sept 2009. Abstract Link Full Text Abstract: Not Available
56.9.2	X. Yu, O. Kaynak, "Sliding-Mode Control With Soft Computing: A Sur," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3275-3285, Sept 2009. Abstract Link Full Text Abstract: Sliding-mode control (SMC) has been studied extensively for over 50 years and widely used in practical applications due to its simplicity and robustness against parameter variations and disturbances. Despite the extensive research activities carried out, the key technical problems associated with SMC remain as challenging research questions due to demands for new industrial applications and technological advances. In this respect, soft computing (SC) is a rather recent development in intelligent systems which has provided alternative means for adaptive learning and control to overcome the key SMC technical problems. Substantial efforts in integration of SMC with SC have been placed in recent years with various successes. In this paper, we provide the state of the art of recent developments in SMC systems with SC, examining key technical research issues and future perspectives.
56.9.3	Y.-W. Liang, S.-D. Xu, L.-W. Ting, "T–S Model-Based SMC Reliable Design for a Class of Nonlinear Control Syst," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3286-3295, Sept 2009. Abstract Link Full Text Abstract: This paper studies the robust reliable control issues based on the Takagi–Sugeno (T–S) fuzzy system modeling method and the sliding-mode control (SMC) technique. The combined scheme is shown to have the merits of both approaches. It not only alleviates the online computational burden by using the T–S fuzzy model to implement the original nonlinear system (since most of the system parameters of the T–S model can be offline computed) but also preserves the advantages of the SMC schemes, including rapid response and robustness. Moreover, the combined scheme does not require online computation of any nonlinear term of the original dynamics, and the increase in the partition number of the region of premise variables does not create extra online computational burdens for the scheme. Under the design, the control mission can continue safely without prompt external support, even when some of the actuators fail to operate. Meanwhile, both the active and the passive reliable designs are presented. The proposed analytical results are also applied to the attitude control of a spacecraft. Simulation results demonstrate the benefits of the proposed scheme.
56.9.4	L. Wang, T. Chai, L. Zhai, "Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynam," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3296-3304, Sept 2009. Abstract Link Full Text Abstract: A neural-network-based terminal sliding-mode control (SMC) scheme is proposed for robotic manipulators including actuator dynamics. The proposed terminal SMC (TSMC) alleviates some main drawbacks (such as contradiction between control efforts in the transient and tracking errors in the steady state) in the linear SMC while maintains its robustness to the uncertainties. Moreover, an indirect method is developed to avoid the singularity problem in the initial TSMC. In the proposed control scheme, a radial basis function neural network (NN) is adopted to approximate the nonlinear dynamics of the robotic manipulator. Meanwhile, a robust control term is added to suppress the modeling error and estimate the error of the NN. Finite time convergence and stability of the closed loop system can be guaranteed by Lyapunov theory. Finally, the proposed control scheme is applied to a robotic manipulator. Experimental results confirm the validity of the proposed control scheme by comparing it with other control strategies.
56.9.5	J.-P. Su, T.-E. Lee, K.-W. Yu, "A Combined Hard and Soft Variable-Structure Control Scheme for a Class of Nonlinear Syst," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3305-3313, Sept 2009. Abstract Link Full Text Abstract: This paper presents a novel variable-structure-based control scheme for nonlinear systems. First, a hard variable-structure control is constructed for achieving a uniform ultimate boundedness control. Then, a soft variable-structure control using fuzzy logic is incorporated to help improve dynamic responses when trajectories enter into the ultimate bound. For practical consideration, we added a genetic-algorithm-based alpha–beta filter in front of the fuzzy controller to suppress noise and obtain smooth input signals. For comparison purposes, an inverted pendulum system was first used as a simulated example to demonstrate the effectiveness of the design. Then, the performance of the control scheme was practically tested with an experimental PC-based magnetic levitation system. The simulation and experimental results strongly suggest that the newly proposed control scheme is encouraging for practical applications.
56.9.6	B. Beltran, T. Ahmed-Ali, M. E. H. Benbouzid, "High-Order Sliding-Mode Control of Variable-Speed Wind Turbi," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3314-3321, Sept 2009. Abstract Link Full Text Abstract: This paper deals with the power generation control in variable-speed wind turbines. These systems have two operation regions which depend on wind turbine tip speed ratio. A high-order sliding-mode control strategy is then proposed to ensure stability in both operation regions and to impose the ideal feedback control solution in spite of model uncertainties. This control strategy presents attractive features such as robustness to parametric uncertainties of the turbine. The proposed sliding-mode control approach has been validated on a 1.5-MW three-blade wind turbine using the National Renewable Energy Laboratory wind turbine simulator FAST (Fatigue, Aerodynamics, Structures, and Turbulence) code. Validation results show that the proposed control strategy is effective in terms of power regulation. Moreover, the sliding-mode approach is arranged so as to produce no chattering in the generated torque that could lead to increased mechanical stress because of strong torque variations.
56.9.7	M. Reichhartinger, M. Horn, "Application of Higher Order Sliding-Mode Concepts to a Throttle Actuator for Gasoline Engi," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3322-3329, Sept 2009. Abstract Link Full Text Abstract: In this paper, the control of an electronic throttle valve based on second-order sliding-mode concepts is presented. The so-called twisting algorithm is chosen as the control law. It is shown that the tracking performance for discontinuous reference signals is significantly improved by introducing nonlinear damping by appropriately specifying the sliding surface. The control concept requires the measured plate angle as well as its time derivative, which is computed with the help of a robust exact differentiator. The effectiveness of the proposed concept, consisting of a twisting algorithm for control and supertwisting algorithm for differentiation, is demonstrated by experimental results.
56.9.8	N. Zhang, M. Yang, Y. Jing, S. Zhang, "Congestion Control for DiffServ Network Using Second-Order Sliding Mode Cont," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3330-3336, Sept 2009. Abstract Link Full Text Abstract: In this paper, a nonlinear fluid flow model is used to analyze and control DiffServ Network. The controller design is based on the integrated dynamic congestion control strategy and a leader–follower control scheme. With respect to standard sliding mode control (SMC), the second-order sliding mode technique shows the same properties of robustness to uncertainties of model and considerable simplification of model used in the design. Apart from the robustness feature, the proposed second-order SMC laws have the advantage of being continuous, thus eliminating the chattering effect and being more acceptable in application. The performance of the control scheme is verified by the simulation results.
56.9.9	M. Defoort, F. Nollet, T. Floquet, W. Perruquetti, "A Third-Order Sliding-Mode Controller for a Stepper Mo," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3337-3346, Sept 2009. Abstract Link Full Text Abstract: This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the measurement or the estimation of the motor speed and acceleration for feedback. To avoid the use of tachometers and accelerometers which add cost and energy consumption, a robust second-order sliding-mode observer is presented. Experimental results illustrate the performance and the advantages of the proposed controller.
56.9.10	M. Tanelli, C. Vecchio, M. Corno, A. Ferrara, S. M. Savaresi, "Traction Control for Ride-by-Wire Sport Motorcycles: A Second-Order Sliding Mode Appro," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3347-3356, Sept 2009. Abstract Link Full Text Abstract: This paper addresses the analysis and design of a safety-oriented traction control system for ride-by-wire sport motorcycles based on the Second-Order Sliding Mode methodology. The controller design is based on a nonlinear dynamical model of the rear wheel slip, and the modeling phase is validated against experimental data measured on an instrumented vehicle. To comply with practical applicability constraints, the position of the electronic throttle body is used as control variable and the effect of the actuator dynamics is thoroughly analyzed. After a discussion on the interplay between the controller parameters and the tracking performance, the final design effectiveness is assessed via Mechanical Simulation Corporation BikeSim, a full-fledged commercial multibody motorcycle model.
56.9.11	M. Defoort, T. Murakami, "Sliding-Mode Control Scheme for an Intelligent Bicy," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3357-3368, Sept 2009. Abstract Link Full Text Abstract: This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems.
56.9.12	S. Rao, M. Buss, V. Utkin, "Simultaneous State and Parameter Estimation in Induction Motors Using First- and Second-Order Sliding Mo," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3369-3376, Sept 2009. Abstract Link Full Text Abstract: We address the problem of meeting the requirements of controllers for the control of speed of induction motors, but under the constraint of not using speed and flux sensors: the so-called “sensorless” control problem. We offer an observer-based solution and present the design of two observers which provide motor speed, flux, and rotor resistance estimates simultaneously. Both observers, based on the rotor flux model in the stationary reference frame, are designed with inputs that enforce first- (conventional) and second-order sliding modes, respectively, on appropriately chosen switching surfaces. We present experimental results of the estimation procedure to demonstrate that only current and input voltage measurements are needed for accurate speed and flux estimation even in the presence of unknown parameters.
56.9.13	J. Alvarez, D. Rosas, J. Pena, "Analog Implementation of a Robust Control Strategy for Mechanical Syst," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3377-3385, Sept 2009. Abstract Link Full Text Abstract: An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot.
56.9.14	K. C. Veluvolu, Y. C. Soh, "High-Gain Observers With Sliding Mode for State and Unknown Input Estimati," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3386-3393, Sept 2009. Abstract Link Full Text Abstract: To handle the state estimation of a nonlinear system perturbed by a scalar disturbance distributed by a known nonlinear vector, a sliding-mode term is incorporated into the nonlinear high-gain observer (HGO) to realize a robust HGO. By imposing a structural assumption on the unknown input distribution vector, the observability of the disturbance with respect to the output is safeguarded, and the disturbance can be estimated from the sliding surface. Under a Lipschitz condition for the nonlinear part, the nonlinear observers are designed under the structural assumption that the system is observable with respect to any input. In the sliding mode, the disturbance under an equivalent control becomes an increment of Lipschitzian function, and the convergence of the estimation error dynamics can be proven similar to the analysis of HGOs. The proposed technique can be applied for fault detection and isolation. The simulation results for the bioreactor application demonstrate the effectiveness of the proposed method.
56.9.15	C. Lascu, I. Boldea, F. Blaabjerg, "A Class of Speed-Sensorless Sliding-Mode Observers for High-Performance Induction Motor Dri," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3394-3403, Sept 2009. Abstract Link Full Text Abstract: A new family of speed-sensorless sliding-mode observers for induction motor drives has been developed. Three topologies are investigated in order to determine their feasibility, parameter sensitivity, and practical applicability. The most significant feature of all schemes is that they do not require the rotor speed adaptation, i.e., they are inherently sensorless observers. The most versatile and robust is a dual-reference-frame full-order flux observer. The other two schemes are flux observers implemented in stator frame and rotor frame, respectively. These are simpler than the first one and make use of the sliding-mode invariance over a specified range of modeling uncertainties and disturbances. Main theoretical aspects, results of parameter sensitivity analysis, and implementation details are given for each observer in order to allow the comparison. Experimental results with the dual-reference-frame observer, considered the most adequate for practical applications, are presented and discussed. Sensorless operation with a sliding-mode direct-torque-controlled drive at very low speeds is demonstrated. It is concluded that the new proposed observers represent a feasible alternative to the classical speed-adaptive flux observers.
56.9.16	M. Ghanes, G. Zheng, "On Sensorless Induction Motor Drives: Sliding-Mode Observer and Output Feedback Control," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3404-3413, Sept 2009. Abstract Link Full Text Abstract: In this paper, a sensorless output feedback controller is designed in order to drive the induction motor (IM) without the use of flux and speed sensors. First, a new sliding-mode observer that uses only the measured stator currents is synthesized to estimate the speed, flux, and load torque. Second, a current-based field-oriented sliding-mode control is developed so as to steer the estimated speed and flux magnitude to the desired references. A stability analysis based on the Lyapunov theory is also presented in order to guarantee the closed-loop stability of the proposed observer-control system. Two experimental results for a 1.5-kW IM are presented and analyzed by taking into account the unobservability phenomena of the sensorless IM.
56.9.17	M. Comanescu, "An Induction-Motor Speed Estimator Based on Integral Sliding-Mode Current Cont," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3414-3423, Sept 2009. Abstract Link Full Text Abstract: This paper presents a speed-estimation method for the induction-motor (IM) drive that is based on a special current-control scheme called Integral Sliding-Mode Current Control (ISM-CC). Classic current control for the IM drive is done by regulating the $d$– $q$ synchronous reference frame currents using PI controllers with or without a decoupling compensator. If a decoupling compensator is used, the speed and the motor parameters are needed to compute the decoupling voltages. Often, the speed (or the speed estimate) is not available, and the decoupling compensator is omitted; this leads to a degraded performance of the current controller. The ISM-CC scheme was developed for the decoupled control of the $d$– $q$ currents and does not require the knowledge of the speed. In the ISM-CC, PI controllers act on simulated ideal plant models, and the resulting command voltages are complemented with voltages generated by SM controllers. It is shown that the SM controllers play the same role as the compensation voltages produced by a decoupling compensator. The speed estimator is constructed based on this observation—speed is estimated through algebraic calculations. This paper describes both the ISM-CC method and the speed estimator. Simulations and experimental results on a 1/4-hp three-phase IM confirm the validity of the method.
56.9.18	Y. Feng, J. Zheng, X. Yu, N. V. Truong, "Hybrid Terminal Sliding-Mode Observer Design Method for a Permanent-Magnet Synchronous Motor Control Sys," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3424-3431, Sept 2009. Abstract Link Full Text Abstract: This paper proposes a hybrid terminal sliding-mode observer based on the nonsingular terminal sliding-mode (NTSM) and the high-order sliding-mode (HOSM) for the rotor position and speed estimation in the permanent-magnet synchronous motor control system. An NTSM manifold is utilized to realize both fast convergence and better tracking precision. In addition, a derivative estimator is used to obtain the derivative of the sliding-mode function. Meanwhile, an HOSM control law is designed to guarantee the stability of the observer and eliminate the chattering, so that smooth back-electromotive-force (EMF) signals can be obtained without a low-pass filter. According to the back-EMF equations, the rotor position and speed of the motor can be calculated. Simulation and experimental results are presented to validate the proposed method.
56.9.19	B. Bandyopadhyay, P. S. Gandhi, S. Kurode, "Sliding Mode Observer Based Sliding Mode Controller for Slosh-Free Motion Through PID Sch," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3432-3442, Sept 2009. Abstract Link Full Text Abstract: This paper presents a new approach to design a sliding mode controller for a class of mismatched uncertain systems. A method is proposed for the design of a switching surface in the presence of mismatched uncertainties. A design method for a sliding mode observer based on high gain is also proposed in this paper to reconstruct the states of the system for the implementation of sliding mode control. The design technique is simple and computationally efficient. A control problem for the slosh-free motion of a container is considered as the representative of a typical class of systems. A simple pendulum model is considered to represent the lateral slosh. The validity of the proposed scheme is demonstrated by simulation along with the experimental results.
56.9.20	K. C. Veluvolu, Y. C. Soh, "Discrete-Time Sliding-Mode State and Unknown Input Estimations for Nonlinear Syst," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3443-3452, Sept 2009. Abstract Link Full Text Abstract: This paper addresses the problems of discrete-time state and unknown input/fault estimation for continuous-time nonlinear systems with multiple unknown inputs. Taylor series expansion and a nonlinear transformation are used to convert the nonlinear continuous-time system into a discrete-time model. The conditions for the observability of unknown inputs w.r.t. outputs are discussed. The novelty lies in the formulation of multiple sliding-mode estimator for the states that are directly influenced by unknown inputs, which cannot be decoupled by nonlinear transformation. This framework allows for the estimation of unknown inputs from the multiple sliding modes. The existence of discrete-time sliding mode is guaranteed, and the relation between the boundary layer thickness and the sliding-mode gain design that will eliminate chattering and the boundedness conditions is obtained. The proposed technique can be applied for fault detection and isolation. Simulation results with application to three-phase motor are given to demonstrate the effectiveness of the proposed method.
56.9.21	F. M. Oettmeier, J. Neely, S. Pekarek, R. DeCarlo, K. Uthaichana, "MPC of Switching in a Boost Converter Using a Hybrid State Model With a Sliding Mode Obser," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3453-3466, Sept 2009. Abstract Link Full Text Abstract: In this paper, a model of a dc–dc (boost) converter is first expressed as a hybrid/switched/variable-structure system state model for the purpose of applying recently developed hybrid optimal control theory to control switching in a boost converter. Switching control is achieved by forming the embedded form of the hybrid state model, which enables the derivation of a control that solves for the switching function that minimizes a user-defined performance index. This approach eliminates the need to form average-value models and provides flexibility to balance competing objectives through appropriate weighting of individual terms in the performance index. Since, in practical situations, both the source voltage and the load resistance vary with time in unknown and unmeasurable ways, we introduce a sliding mode observer based on an enlarged state model which allows implicit estimation of the unknown variables. The combined optimal switching control and sliding mode observer are applied to a boost converter in which several nonidealities and losses are represented. The results of time-domain simulation and hardware experiments are used to validate and compare the response of the hybrid optimal control–sliding mode observer to that of a traditional current-mode control strategy.
56.9.22	D. Cortes, N. Vazquez, J. Alvarez-Gallegos, "Dynamical Sliding-Mode Control of the Boost Inver," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3467-3476, Sept 2009. Abstract Link Full Text Abstract: The boost inverter is a device that is able to generate a sinusoidal voltage with an amplitude larger than the input voltage. Based on the idea of indirectly controlling the output voltage through the inductor current, a dynamical sliding-mode controller for the boost inverter is proposed in this paper. Unlike the usual approach of generating a sinusoidal voltage in both capacitors of the boost inverter, the strategy proposed in this paper focuses on generating a sinusoidal voltage on the load despite the voltage form of both capacitors. A consequence of doing so is that only the desired output voltage is required as reference to implement the controller. Furthermore, it has a fast response, is robust under load and input voltage variations, and yet, is remarkably simple to implement. Although it is strongly nonlinear, it can be implemented using standard electronics circuitry and only needs voltage measurements.
56.9.23	O. Kukrer, H. Komurcugil, A. Doganalp, "A Three-Level Hysteresis Function Approach to the Sliding-Mode Control of Single-Phase UPS Invert," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3477-3486, Sept 2009. Abstract Link Full Text Abstract: A new approach to the sliding-mode control ofsingle-phase uninterruptible-power-supply inverters is introduced in continuous time. A three-level hysteresis sliding function is used to directly control the inverter switches, with the result that a transistor is switched during a half-cycle while it remains either on or off during the other cycle. An expression is derived for the predicted switching frequency. The performance of the proposed control method has been tested through computer simulations and experiments under different loads (a resistive load and a diode bridge rectifier load). Simulation and experimental results verify the correct operation of the proposed control strategy. In addition, the switching frequency prediction is seen to be quite accurate.
56.9.24	M. Castilla, L. Garcia de Vicuna, J. Matas, J. Miret, J. C. Vasquez, "A Comparative Study of Sliding-Mode Control Schemes for Quantum Series Resonant Invert," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3487-3495, Sept 2009. Abstract Link Full Text Abstract: This paper presents a comparative study of sliding-mode control schemes for quantum series resonant inverters. The single-input and two-input resonant systems considered in this study are designed with identical specifications. The control performance is evaluated in aspects such as load transient response, sensitivity to disturbances, and efficiency. Other aspects such as control complexity and cost are also considered. Simulation and experimental results are reported in order to validate the theoretical predictions. Essentially, the study demonstrates the following: 1) The load transient response of the proposed two-input system is insensitive to load variations; 2) the single-input system exhibits higher efficiency, particularly at light load conditions, and 3) both control schemes have similar complexity and cost.
56.9.25	L. Garcia de Vicuna, M. Castilla, J. Miret, J. Matas, J. M. Guerrero, "Sliding-Mode Control for a Single-Phase AC/AC Quantum Resonant Conver," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3496-3504, Sept 2009. Abstract Link Full Text Abstract: This paper presents a sliding-mode control for a single-phase ac/ac quantum resonant converter. The closed-loop system improves regulation, sensitivity to disturbances, and transient response. The design of the closed-loop system is based on the sliding-mode control theory, and it is carried out with the help of an averaged large-signal model of the resonant converter. Simulation and experimental results are reported to validate the theoretical predictions. Essentially, the contribution of this paper is as follows: 1) the averaged large-signal model for the resonant converter; 2) the sliding-mode control scheme; and 3) the design guidelines for the control gains and parameters.
56.9.26	R. Cardim, M. C. M. Teixeira, E. Assuncao, M. R. Covacic, "Variable-Structure Control Design of Switched Systems With an Application to a DC–DC Power Conver," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3505-3513, Sept 2009. Abstract Link Full Text Abstract: This paper is concerned with the design of state-feedback variable-structure controllers (VSCs) for a class of continuous-time switched plants. In particular, a new VSC design method based on Lyapunov–Metzler (LM) inequalities and the properties of strictly positive real (SPR) systems is suggested. The method is applied to the control of a dc–dc power converter: The performance of the resulting control system is superior to that afforded by a recently proposed alternative sliding-mode control technique. The definition of LM-SPR systems and its direct application to establish a procedure for designing the switching rule and VSC input are presented.
56.9.27	S. N. Huang, K. K. Tan, T. H. Lee, "Adaptive Sliding-Mode Control of Piezoelectric Actuat," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3514-3522, Sept 2009. Abstract Link Full Text Abstract: In this paper, we consider the adaptive control problem for piezoelectric actuators with nonlinear uncertainties. The controller consists of two parts: sliding mode and adaptive component. The sliding-mode part rejects dominant uncertainties, while the adaptive component is continuously refined based on just prevailing input and output signals. The stability of the designed control system can be guaranteed by a rigorous proof. Simulation and real-time experimental results are provided to verify the effectiveness of the proposed scheme.
56.9.28	A. G. Loukianov, J. Rivera, Y. V. Orlov, E. Y. Morales Teraoka, "Robust Trajectory Tracking for an Electrohydraulic Actua," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3523-3531, Sept 2009. Abstract Link Full Text Abstract: Various robust control techniques, such as integral-block, sliding-mode, and $H$-infinity controls, are combined to design a controller, forcing an electrohydraulic actuator which is driven by a servovalve to track a chaotic reference trajectory. This approach enables one to compensate the inherent nonlinearities of the actuator and reject matched external disturbances and attenuate mismatched external disturbances. The capabilities of the approach are illustrated in a simulation study.
56.9.29	S. N. Huang, K. K. Tan, T. H. Lee, "Sliding-Mode Monitoring and Control of Linear Dri," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3532-3540, Sept 2009. Abstract Link Full Text Abstract: In this paper, we consider the monitoring and control of linear drives subject to nonlinear uncertainties. First, we propose a residual generator based on sliding mode, which can be used to monitor the linear drive. When a fault occurs, the monitoring system will generate and transmit an alert signal to the controller. Second, we design a sliding-mode control system which can work in two modes: normal control and fault-tolerant control. Finally, the proposed method is tested in a real linear drive comprising a rotary dc motor using a screw rod to translate rotation into translation.
56.9.30	M.-S. Park, D. Chwa, "Swing-Up and Stabilization Control of Inverted-Pendulum Systems via Coupled Sliding-Mode Control Met," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3541-3555, Sept 2009. Abstract Link Full Text Abstract: This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems. An SMC law is designed to force a coupled sliding surface (which consists of sliding surfaces of both actuated and unactuated subsystems) to be reached in finite time, such that zero dynamics are generated in the form of a second-order damped and forced nonlinear differential equation. The stability analysis is provided to show that the resulting zero dynamics is guaranteed to be semiglobally asymptotically stable over the upper half-plane as well as over the whole plane except the horizon. This property is maintained even in the presence of the matched disturbance by virtue of the sliding-mode approach. Using the semiglobal nature of the stability of the zero dynamics, the aggressive swing-up (in one time, without swinging motion) and stabilization control can be achieved by a single coupled SMC law, without involving the switching (or hybrid) scheme in the previous works. The performance of the proposed method is demonstrated in both numerical simulations and experiments for the swing-up and stabilization control of inverted-pendulum systems such as cart-pendulum and Furuta-pendulum.
56.9.31	M.-S. Park, D. Chwa, "Orbital Stabilization of Inverted-Pendulum Systems via Coupled Sliding-Mode Cont," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3556-3570, Sept 2009. Abstract Link Full Text Abstract: In this paper, we propose a coupled sliding-mode control (SMC) method for the periodic orbit generation and the robust exponential orbital stabilization of inverted-pendulum systems. We first design an SMC law to force a coupled sliding surface to be reached in finite time, such that the zero dynamics are generated in the form of a second-order undamped and forced nonlinear differential equation. Through the stability analysis, it is shown that there exist exponentially stable periodic solutions of the resulting zero dynamics (i.e., limit cycles around either the upright or downward equilibrium), even in the presence of the matched disturbance. Second, we design a target orbit stabilization control law by further introducing an auxiliary control law to the designed SMC law. This auxiliary control law utilizes the general integral of the autonomous zero dynamics, which preserves its zero value along the given target orbit, and thus, it can contribute to the exponential stabilization of the general integral. To demonstrate the validity of the proposed method, both the periodic orbit generation and target orbit stabilization control of the cart–pendulum, as an example among inverted-pendulum systems, are performed in numerical simulations.
56.9.32	M. Akar, J. C. Kalkkuhl, "Design and Evaluation of an Integrated Chassis Controller for Automotive Vehicle Emulat," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3571-3579, Sept 2009. Abstract Link Full Text Abstract: In this paper, we design an integrated chassis controller (ICC) for vehicle emulation and investigate its performance. The proposed ICC consists of four-wheel automatic steering for lateral dynamics tracking and a suspension controller for emulating desired vertical motion. The lateral control unit utilizes sliding-mode theory, and its design is based on the observation that the coupling from vertical to lateral dynamics is weak in the linear operating regime of interest (i.e., for lateral accelerations below 4 $ hbox{m/s}^{2}$). The proposed vertical controller consists of an active body controller and a force controller that are both designed based on mathematical models derived from physical principles and also validated by experimental data. The efficacy of the vertical controller is illustrated by experimental tests, while the performance of ICC is demonstrated by realistic scenarios in an advanced nonlinear simulator.
56.9.33	B. Alt, J. P. Blath, F. Svaricek, M. Schultalbers, "Multiple Sliding Surface Control of Idle Engine Speed and Torque Reserve With Dead Start Assist Cont," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3580-3592, Sept 2009. Abstract Link Full Text Abstract: The subject of this paper is a multiple sliding surface controller that is adopted to automotive engine control at idle condition. The control task is to hold the engine speed and the torque reserve at their reference values despite parameter uncertainties, variations in the intake-to-torque-production delay, or even in the case of external load torque disturbances. Additionally, the dead start of the vehicle is intensively studied and an appropriate extension of the controller with an internal switching law is developed. A validated nonlinear simulation model is used to evaluate the performance and the robustness of the closed-loop system. Furthermore, experimental results show the effectiveness of the proposed control design.
56.9.34	M. Jin, J. Lee, P. H. Chang, C. Choi, "Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Cont," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3593-3601, Sept 2009. Abstract Link Full Text Abstract: This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.
56.9.35	L. Fu, Ü. Ozguner, "Extremum-Seeking Control in Constrained Source Tracing With Nonholonomic Vehic," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3602-3608, Sept 2009. Abstract Link Full Text Abstract: This paper proposes an extremum-seeking approach for source tracing problems with vehicles subjected to minimum turning radius and nonholonomic constraints. The admissible area for the vehicles is confined within boundary constraints. Extremum-seeking control with sliding mode is utilized for direction finding, and variable structure control is designed to address the constraints on vehicle kinematics and the accessible area. The controller enforces the vehicle to track an optimal trajectory determined by both the motion of the source and the boundary constraints. We present stability and performance analysis for the approach and establish an ultimate bound on the tracking error. A representative simulation example in the context of mobile wireless communication network illustrates the design of the extremum-seeking controller and demonstrates its performance in tracking the optimal trajectory.
56.9.36	S. Khan, A. Sabanovic, A. O. Nergiz, "Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Control," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3609-3618, Sept 2009. Abstract Link Full Text Abstract: In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewton-level interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling.
56.9.37	K. Abidi, J.-X. Xu, J.-H. She, "A Discrete-Time Terminal Sliding-Mode Control Approach Applied to a Motion Control Prob," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3619-3627, Sept 2009. Abstract Link Full Text Abstract: Terminal sliding-mode (TSM) control (TSMC) is known for its high gain property nearby the vicinity of the equilibrium while retaining reasonably low gain elsewhere. This is desirable in digital implementation where the limited sampling frequency may incur chattering if the controller gain is overly high. In this paper, we integrate a linear switching surface with a terminal switching surface. The switching surface can be designed according to the precision requirement, and for the first time, real-time implementation of TSM is carried out. The analysis and experimental investigation show that the TSMC design outperforms the linear sliding-mode control.
56.9.38	B. Bandyopadhyay, D. Fulwani, "High-Performance Tracking Controller for Discrete Plant Using Nonlinear Sliding Surf," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3628-3637, Sept 2009. Abstract Link Full Text Abstract: A nonlinear sliding surface is proposed to improve the transient response for general discrete multiple-input–multiple-output linear systems with matched perturbations. The tracking case is analyzed, and it is shown that the scheme is able to achieve low overshoot and low settling time simultaneously; this is not possible with a linear sliding surface. The control law is based on the discrete-time sliding mode equivalent control and thus eliminates chattering. The control law is proposed based on two approaches: 1) reaching-law-based approach which needs only disturbance bounds and 2) disturbance-observer-based approach. Multirate output feedback is used to relax the need of the entire state vector for the implementation of the control law. A magnetic tape position control application is used to show the effectiveness of the proposed scheme.
56.9.39	G. Liu, A. Zinober, Y. B. Shtessel, "Second-Order SM Approach to SISO Time-Delay System Output Track," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3638-3645, Sept 2009. Abstract Link Full Text Abstract: A fully linearizable single-input–single-output relative-degree $n$ system with an output time delay is considered in this paper. Using the approach of PadÉ approximation, system center approach, and second-order sliding-mode (SM) control, we have obtained good output tracking results. The Smith predictor is used to compensate the difference between the actual delayed output and its approximation. A second-order supertwisting SM observer observes the disturbance in the plant. A nonlinear example is studied to show the effect of this methodology.
56.9.40	Y. Xia, M. Fu, H. Yang, G.-P. Liu, "Robust Sliding-Mode Control for Uncertain Time-Delay Systems Based on Delta Opera," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3646-3655, Sept 2009. Abstract Link Full Text Abstract: This paper is devoted to robust sliding-mode control for time-delay systems with mismatched parametric uncertainties. Based on a delta-operator approach, a delay-dependent sufficient condition for the existence of linear sliding surfaces is given, and a reaching motion controller is also developed. The results obtained in this paper can unify some previous related results of the continuous and discrete systems into the delta-operator systems framework. The feasibility and effectiveness of the developed method are illustrated by an example.
56.9.41	X. R. Han, E. Fridman, S. K. Spurgeon, C. Edwards, "On the Design of Sliding-Mode Static-Output-Feedback Controllers for Systems With State De," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3656-3664, Sept 2009. Abstract Link Full Text Abstract: This paper considers the development of sliding-mode-based output-feedback controllers for uncertain systems which are subject to time-varying state delays. A novel method is proposed for design of the switching surface. This method is based on the descriptor approach and leads to a solution in terms of linear matrix inequalities (LMIs). When compared to existing methods (even for systems without delays), the proposed method is efficient and less conservative than other results, giving a feasible solution when the Kimura–Davison conditions are not satisfied. No additional constraints are imposed on the dimensions or structure of the reduced order triple associated with design of the switching surface. The magnitude of the linear gain used to construct the controller is also verified as an appropriate solution to the reachability problem using LMIs. A stability analysis for the full-order time-delay system with discontinuous right-hand side is formulated. This paper facilitates the constructive design of sliding-mode static-output-feedback controllers for a rather general class of time-delay systems. A numerical example from the literature illustrates the efficiency of the proposed method.
56.9.42	C. Garcia-Rodriguez, J. A. Cortes-Romero, H. Sira-Ramirez, "Algebraic Identification and Discontinuous Control for Trajectory Tracking in a Perturbed 1-DOF Suspension Sys," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3665-3674, Sept 2009. Abstract Link Full Text Abstract: This paper deals with the output feedback control and simultaneous online algebraic identification of an unknown perturbed 1-DOF suspension system. An algebraic identifier, which is known to be of unstable nature, is provided with an automatic disconnection strategy. The automatic disconnection is achieved by assessing an extra auxiliary parameter, called the “sentinel” parameter that monitors the convergence of the rest of the estimated system parameters. The estimated values of mass, stiffness, and damping are realized via an algebraic estimator, with great rapidity and robustness to noise process signals present in the input and output signals. A generalized proportional integral controller was designed for a trajectory tracking task and the rejection of a constant disturbance input. The switched implementation of the average input in the form of a bounded discontinuous control signal is based on the use of a $Sigma {-} Delta$ modulator. In an average sense, this modulation allows us to preserve the desirable features of the dynamic output feedback controller and to be close to a real implementation. The efficiency of the complete procedure is demonstrated via digital computer simulations.
56.9.43	J. M. Andrade-Da Silva, C. Edwards, S. K. Spurgeon, "Sliding-Mode Output-Feedback Control Based on LMIs for Plants With Mismatched Uncertaint," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3675-3683, Sept 2009. Abstract Link Full Text Abstract: In this paper, a design framework for synthesizing sliding-mode output-feedback controllers for plants with matched and mismatched uncertainties is presented. Static-output-feedback (SOF) and compensator-based sliding-mode controllers are proposed. The switching-surface design problem is formulated in terms of linear matrix inequalities (LMIs) from a polytopic perspective, as an SOF problem with mismatched uncertainties. The control law consists of linear and nonlinear components. A convex subset of the complex left half-plane is defined by the designer in order to place the closed-loop eigenvalues when synthesizing numerically the linear component using LMIs through a polytopic formulation. The nonlinear part takes into account matched uncertainties or nonlinearities. Design studies demonstrate the efficacy of the proposed controllers.
56.9.44	L. Zhang, C. Wang, L. Chen, "Stability and Stabilization of a Class of Multimode Linear Discrete-Time Systems With Polytopic Uncertaint," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3684-3692, Sept 2009. Abstract Link Full Text Abstract: In this paper, the problems of stability and stabilization of a class of multimode systems, which are switched linear discrete-time systems with polytopic uncertainties, are investigated. Two types of switching, including fast and slow switchings, among the modes of systems are considered. The construction of multiple parameter-dependent quadratic Lyapunov-like functions is invoked, by which the stability and stabilization conditions are derived and formulated in terms of a set of linear matrix inequalities. The case of switched systems under fast switching, i.e., arbitrary switching is first studied, and the corresponding results are extended to the case of slow switching, i.e., average dwell time switching. The less conservativeness of the obtained results is illustrated by numerical examples. The applicability and effectiveness of the theoretical findings are also verified by a two-mass-spring mechanical system.
56.9.45	M. L. Heldwein, J. Biela, H. Ertl, T. Nussbaumer, J. W. Kolar, "Novel Three-Phase CM/DM Conducted Emission Separa," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3693-3703, Sept 2009. Abstract Link Full Text Abstract: This paper presents two novel three-phase common-mode (CM)/differential-mode (DM) noise separation networks, which are passive and active networks, to be used in electromagnetic compatibility conducted emission (CE) measurements of three-phase equipment. The passive network is analyzed theoretically, and a prototype is constructed and tested. Its evaluation is presented through frequency response measurements and CE tests performed on a three-phase motor drive and verifies that the network is capable of separating the CM and DM information in a CE measurement condition.
56.9.46	S. K. Mishra, "Design-Oriented Analysis of Modern Active Droop-Controlled Power Suppl," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3704-3708, Sept 2009. Abstract Link Full Text Abstract: Active droop control of voltage regulators and point of loads is a preferred way of implementing adaptive voltage positioning to save motherboard space. This paper develops an improved model and design methodology for this control. The conventional model is explained and need for an improved model is described. Based on this improved model, a generalized design procedure, applicable irrespective of the modulation scheme, is developed. Experimental verifications on a five-phase/120-A prototype are presented to validate the design procedure. Results show that the loop performance and output impedance predictions of the model are accurate.
56.9.47	R.-Y. Kim, J.-S. Lai, B. York, A. Koran, "Analysis and Design of Maximum Power Point Tracking Scheme for Thermoelectric Battery Energy Storage Sys," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3709-3716, Sept 2009. Abstract Link Full Text Abstract: The analysis and design of an adaptive maximum power point tracking (MPPT) scheme using incremental impedance are presented. A small-signal model is mathematically derived, and the impact of two major design parameters, which are scaling factor and sampling interval, is analyzed in the frequency domain. Four factors which specifically affect the MPPT response are also clearly addressed. Based on this analysis, a design methodology to achieve a desirable transient response, while retaining system stability, is developed. The design methodology is implemented and verified with hardware experiments on a thermoelectric generator battery energy storage system, which indicate agreement between dynamic response and target bandwidth.
56.9.48	L. L. Menegaldo, G. A. N. Ferreira, M. F. Santos, R. S. Guerato, "Development and Navigation of a Mobile Robot for Floating Production Storage and Offloading Ship Hull Inspect," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3717-3722, Sept 2009. Abstract Link Full Text Abstract: This paper describes the current development status of a mobile robot designed to inspect the outer surface of large oil ship hulls and floating production storage and offloading platforms. These vessels require a detailed inspection program, using several nondestructive testing techniques. A robotic crawler designed to perform such inspections is presented here. Locomotion over the hull is provided through magnetic tracks, and the system is controlled by two networked PCs and a set of custom hardware devices to drive motors, video cameras, ultrasound, inertial platform, and other devices. Navigation algorithm uses an extended-Kalman-filter (EKF) sensor-fusion formulation, integrating odometry and inertial sensors. It was shown that the inertial navigation errors can be decreased by selecting appropriate $Q$ and $R$ matrices in the EKF formulation.
56.9.49	C. Hua, P. X. Liu, X. Guan, "Backstepping Control for Nonlinear Systems With Time Delays and Applications to Chemical Reactor Syst," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3723-3732, Sept 2009. Abstract Link Full Text Abstract: The state feedback control problem is addressed for a class of nonlinear time-delay systems. The time delays appear in all state variables of the nonlinear system, which brings a challenging issue for controller design. With an introduced new Lyapunov–Krasovskii functional, we develop a novel control strategy. With the help of a backstepping method, we design a memoryless state feedback controller, which does not need the precise knowledge of time delays. It is rigorously proved that the closed-loop system is asymptotically stable. Chemical reactor plants are typical nonlinear systems with time delays. We apply the developed method to the control design of a two-stage chemical reactor with delayed recycle streams, and the simulation results verify the effectiveness of the main results.
56.9.50	C.-H. Lu, "Design and Application of Stable Predictive Controller Using Recurrent Wavelet Neural Netwo," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3733-3742, Sept 2009. Abstract Link Full Text Abstract: This paper presents a design methodology for stable predictive control of nonlinear discrete-time systems via recurrent wavelet neural networks (RWNNs). This type of controller has its simplicity in parallelism to conventional generalized predictive control design and efficiency to deal with complex nonlinear dynamics. A mathematical model using RWNN is constructed, and a learning algorithm adopting a recursive least squares is employed to identify the unknown parameters in the consequent part of the RWNN. The proposed control law is derived based on the minimization of a modified predictive performance criterion. Two theorems are presented for the conditions of the stability analysis and steady-state performance of the closed-loop systems. Numerical simulations reveal that the proposed control gives satisfactory tracking and disturbance rejection performances. Experimental results for position control of a positioning mechanism show the efficacy of the proposed method with setpoint changes.
56.9.51	Y.-S. Lu, "Sliding-Mode Disturbance Observer With Switching-Gain Adaptation and Its Application to Optical Disk Dri," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3743-3750, Sept 2009. Abstract Link Full Text Abstract: This paper deals with the design of a sliding-mode disturbance observer (SDOB) with switching-gain adaptation for a class of nonlinear systems subject to exogenous signals. The proposed SDOB, referred to as IMP-SDOB, is based on the internal-model principle and thus achieves robust asymptotic disturbance estimation, whereas the conventional SDOB leads to nonzero estimation error to a time-varying disturbance. Moreover, while the conventional SDOB needs a switching gain greater than the magnitude of an unknown disturbance, the proposed IMP-SDOB design releases this constraint and requires only a small switching gain as compared with a conventional design, further alleviating the chattering problem. The stability of the combined controller–observer system is derived on the basis of a Lyapunov analysis. Moreover, in contrast with the previous switching-gain adaptation law that inevitably yields a nondecreasing switching gain and asymptotic convergence of the switching function, a novel adaptation law is proposed to reduce the switching gain whenever appropriate and to guarantee finite-time convergence of the switching function. The effectiveness of the proposed scheme is demonstrated through experimental studies on the track-following system of an optical disk drive suffering from significant disk runout.
56.9.52	Y.-H. Chang, C.-W. Chang, J.-S. Taur, C.-W. Tao, "Fuzzy Swing-Up and Fuzzy Sliding-Mode Balance Control for a Planetary-Gear-Type Inverted Pendu," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3751-3761, Sept 2009. Abstract Link Full Text Abstract: An energy-compensated fuzzy swing-up and balance control is investigated for the planetary-gear-type inverted pendulum (PIP) in this paper. The proposed control scheme consists of a fuzzy swing-up controller (FSC), a fuzzy sliding balance controller (FSBC), and a fuzzy compensation mechanism. The PIP with the designed FSC can upswing the pendulum quickly and have the controlled system be stable in the sense of approaching the desired system energy. The pendulum of PIP system can be stably balanced at the upright position with the presented FSBC, where the chattering effect is significantly eliminated. With the proposed compensation mechanism, the overaccumulated upswing energy can be effectively compensated such that the influence of disturbance can be overcome. The simulation results are included to indicate the effectiveness of the provided controller. Moreover, based on an embedded control kernel, an experimental setup for the PIP control system is built up. It shows that the real-time experiment results empirically support the promising performance of desire.
56.9.53	W. Prodanov, M. Valle, R. Buzas, "A Controller Area Network Bus Transceiver Behavioral Model for Network Design and Simulat," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3762-3771, Sept 2009. Abstract Link Full Text Abstract: The main purpose of this paper is to develop reliable and affordable tools and methodologies for the design, simulation, and fault analysis of Controller Area Network (CAN) bus networks. In this paper, a behavioral model of a CAN bus transceiver is proposed and experimentally verified. Moreover, we developed a methodology to efficiently manage the trade-off concerning accuracy, simulation speed, and convergence issues which are usually involved in the simulation of large CAN bus networks. To this aim, three different architectures of the transceiver behavioral model have been implemented: They can be selected by the user to address specific requirements of intended analyses. The architectures are based on a set of behavioral models of the basic mixed-signal circuit building blocks of the transceiver. The models were implemented using the VHDL-AMS language. Signal integrity, fault analysis, power consumption analysis, corner analysis, etc., can be effectively and reliably implemented. Simulation and experimental results, which demonstrate our approach efficiency, are reported.
56.9.54	R. Wirz, R. Marin, M. Ferre, J. Barrio, J. M. Claver, J. Ortego, "Bidirectional Transport Protocol for Teleoperated Rob," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3772-3781, Sept 2009. Abstract Link Full Text Abstract: This paper describes a new Internet transport protocol applied to teleoperated tasks. This protocol, called bidirectional transport protocol (BTP), has demonstrated reliable performance regarding time spent for packet transmission. This protocol provides a novel congestion control technique which enhances application and transport layer performance. Internet still has some limitations, such as variable jitter, bandwidth, or congestion. New techniques have to be looked into so as to enable proper bilateral teleoperation. Most research to date focuses on the application layer such as control techniques (e.g., passivity) or predictive displays. Only a few studies are devoted to the transport layer or communication protocols. A testbed based on master–slave architecture has been used for testing BTP versus user datagram protocol (UDP). Transmission control protocol flows also coexist with the transmitted teleoperation data. Results show that the proposed protocol significantly enhances the UDP approach by achieving a minimum round trip time and interarrival time in relation to the available bandwidth of the network.