Based on Lyapunov stability theorem, a design methodology of nth order adaptive integral variable structure derivative estimator (AIVSDE) is proposed in this thesis. The proposed derivative estimator not only is an improved version of the existing AIVSDE, but also can be used to estimate the nth differentiation of a smooth signal which has continuous and bounded derivatives up to n+1. A low pass filter is cascaded with AIVSDE so that the effects of noise can be alleviated by adjusting the designing parameters of filter and AIVSDE. The adaptive algorithm is incorporated in the control scheme for removing the a priori knowledge of the upper bound of the observed signal. The stability of the proposed derivative estimator is guaranteed, and the comparison of upper bound of derivative estimation error between recently proposed nonlinear adaptive variable structure derivative estimator (NAVSDE) and AIVSDE is also demonstrated. An example is given for showing the applicability of the proposed AIVSDE.

Thesis (Ph. D.)--Ohio State University, 2002. / Title from first page of PDF file. Document formatted into pages; contains xv, 156 p.; also includes graphics (some col.). Includes abstract and vita. Co-advisors: Vadim I. Utkin, Giorgio Rizzoni, Dept. of Electrical Engineering. Includes bibliographical references (p. 153-156).

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Thesis (M.S.)--Rochester Institute of Technology, 2009. / Typescript. Includes bibliographical references (leaves 76-77).

Dissertation (Ph. D. in Mechanical Engineering) Naval Postgraduate School, September 1996. / Dissertation supervisor(s): Anthony Healey. "September 1996." Includes bibliographical references (p. 341-345). Also available online.

The development, implementation, and testing of a leader-follower based robust nonlinear formation controller is discussed in this thesis. This controller uses sliding mode control on the length and angle between the leader and follower vessels to produce the desired formation. A boat model, assuming planar motion (three degrees of freedom), is used as the bases for the controller. Open loop testing is performed to determine parameter values to match the simulation model to the physical one and, upon tuning of the controller to match, closed loop testing of the controller with a virtual leader is also performed. From these tests it is found that the controller is unstable, thus improvements to the controller, through changes made to the model and to the parameter identification process, are undertaken. Simulations comparing the initial and updated models of the vehicle to open loop data show an improvement in the new model.

Thesis (Ph. D.)--Ohio State University, 2006. / Title from first page of PDF file. Includes bibliographical references (p. 172-178).

A novel design methodology of a decentralized adaptive sliding mode control scheme for a class of large-scale systems with mismatched disturbances and uncertainties in each subsystem and interconnections is proposed in this thesis. The main idea of this new method is that the design of the switching surface of each subsystem is through the design of a pseudo-feedback controller which can stabilize the dynamics when system is in the sliding mode. The feedback gain of the pseudo controller then becomes a important parameter of switching surface. The proposed controllers of each subsystem contain three parts. The first part is measurable feedback signals, and the second part is an adaptive control mechanism, which is used for overcoming the disturbances and uncertainties of each subsystem and interconnections among subsystems. The information of upper bound of those disturbances and uncertainties are not required. The third part of the decentralized controllers is used for adjusting the convergent rate of state variables of the controlled system. The asymptotical stability is guaranteed for each subsystem even if the mismatched perturbations exist when employing the proposed control scheme. An example is demonstrated for showing the feasibility of the proposed methodology.

Based on the Lyapunov stability theorem, a methodology of designing an adaptive sliding mode control (ASMC) scheme is proposed in this thesis for a class of linear dynamic systems with matched and mismatched perturbations. Firstly, by utilizing a pseudo control input in the design of a novel sliding surface function, one can not only suppress the mismatched perturbations in the sliding mode, but also achieve the objective of output tracking. In addition, the accuracy of output tracking can be adjusted through the designed parameter embedded in this pseudo controller. Then, a sliding mode controller is derived to guarantee the existence of the sliding mode in a finite time by using adaptive mechanism, which is used to overcome the lumped perturbations so that the upper bound of perturbations is not required. Finally, two illustrative examples are given to demonstrate the validity of the results.

Based on the Lyapunov stability theorem, a methodology of designing a decentralized multi-surface adaptive sliding mode control scheme is proposed in this thesis for a class of large-scale nonlinear systems with mismatched perturbations and interconnections. By utilizing the sliding mode control technique, the designed decentralized robust controller with adaptive mechanisms embedded enable the output of each subsystem to track its own desired output signal, and stabilize the whole large-scale system as well as each subsystem at the same time. In addition, the accuracy of output tracking can be adjusted through the designed parameter embedded in the controller. The purpose of the adaptive mechanisms included in the controller is to adapt the unknown upper bounds of perturbations and interconnections. Finally, two illustrative examples are given to demonstrate the feasibility of the proposed methodology.