Title :
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
fDate :
29 July-1 Aug. 2005
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;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626531
