Distributed simulation of mechatronic systems using decentralized sliding control

Author

Azizi, S.M. ; Gordon, Brandon W.

Author_Institution

Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que., Canada

Volume

1

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

107

Abstract

In this paper a distributed simulation method for mechatronic systems is developed based on decentralized sliding mode control. This method is potentially much more efficient than existing centralized approaches due to the reduction in computation and communication associated with large scale matrix inversion problems. Necessary conditions for stability of the decentralized approach are developed. The new method is applied for simulation of a double pendulum system to demonstrate the validity of the approach.

Keywords

decentralised control; matrix inversion; mechatronics; nonlinear control systems; pendulums; stability; variable structure systems; decentralized approach stability; decentralized sliding mode control; distributed simulation method; double pendulum system; large scale matrix inversion problems; mechatronic systems; Computational modeling; Control systems; Differential algebraic equations; Differential equations; Jacobian matrices; Mechatronics; Nonlinear control systems; Nonlinear equations; Sliding mode control; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626531

Filename

1626531