Sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in sliding modes sliding mode control design using the sliding mode control. The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. This paper presents the sliding mode controller design to regulate the speed control of the directcurrentdc motor.
Robust adaptive sliding mode control using fuzzy modelling. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation. From this basis, more advanced theoretical results are. Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999.
Sliding mode control theory systems science prueba. Pdf this paper presents a design of continuoustime sliding mode control for the higher order systems via reduced order model. Designing robust control by sliding mode control technique 9 take the sliding variable to zero in finite time by the means of control u. In recent years, sliding mode control smc technique has evolved as one of the most efficient control methods which reject system uncertainties and disturbances. A modelfree control system based on the sliding mode. Sliding mode control design for stabilization of underactuated. Pdf speed control of dc motor using sliding mode control. The paper presents a brief survey on variable structure control systems with sliding modes. Introduction in nonlinear control theory, sliding mode control is a robust control system capable of handling systems with modelling inaccuracies and outside disturbances. The described control algorithms were applied to position control of the levitating systems in magnetic field.
The objective is to develop a control model for controlling such systems using. In this, the sliding surfaces used to derive the different control schemes presented in this work are based on an integral. Recent developments in sliding mode control theory and. Understanding and applying currentmode control theory. Choose a web site to get translated content where available and see local events and offers. A modelfree control algorithm derived using the sliding mode control method agamemnon crassidis, arielle mizov rochester institute of technology 76 lomb memorial drive, rochester, new york 14623, u. Note that when the system is in sliding mode, the system behavior. Introduction liding mode control is one of the most effective control methodologies in dealing with a large class of uncertain systems. Pdf sliding mode control design via reduced order model. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. During the initial stages of sliding mode control theory development. The design of the fuzzy sliding mode controller fsmc has been carried out based on sliding mode control smc integrated into a fuzzy logic approach in order to eliminate the chattering.
Sliding mode control smc, based on the theory of variable structure systems vss, has been widely applied to robust control of. Based on your location, we recommend that you select. The statefeedback control law is not a continuous function of. Starting from a general case of sliding modes in dynamical systems with discontinuous righthand side, classic approaches to sliding mode control systems are considered and some basic results about the control of uncertain systems are given. Modern sliding mode control theory new perspectives and. Conventional control theory is well suited to applications where the control efforts can be generated based on an analytical model l, 21. The typical structure of a robust controller is composed of a nominal part, similar to an ordinary feedback control law, and additional terms aimed at dealing with model uncertainty. New perspectives and applications lecture notes in control and information sciences. Index termssliding mode control, finite time controller, matched perturbation, sum of squares sos. This book is a collection of invited chapters covering several areas of modern sliding mode control theory.
Over the past few decades, sliding mode control smc theory has been widely applied in. Sliding mode control of infinitedimensional systems. The desirable performance of the plant should be obtained despite the unpredictable influence of the environment on the control system and no matter if the plant parameters are precisely known. A transfer function of a linear system is defined as the ratio of the laplace transform of the output and the laplace. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations.
Dobbiaco summer school dobbiaco bz 2226 june 2009 254 introduction to sliding modes in variable structure systems sliding mode control of uncertain systems. These robustness properties make this discontinuous control strategy very attractive. The system is a second order dynamic system, consisting of a mass and a damper. There are two reasons which can lead to chattering. Moreover, some important control problems involving uncertain mechanical. Sliding mode control theory seeks to produce controllers to over some such mismatches. Sliding mode control smc is a powerful and robust control method. Classical sliding mode are characterized by constraining the state evolution onto a surface of the state space by means of a switching control the 2nd order sliding mode is characterized by a n2q reduced order dynamics n n q n q t r f t r. Sliding mode control provides insensitivity to parameter variations and disturbances. What links here related changes upload file special pages permanent link.
Modelfree, sliding mode control, multiinput multioutput, actuator dynamics, quadrotor 1. In this article, a hierarchical sliding mode control based on statedep. The main technical operation of an smc is to force the system state trajectories onto some predefined sliding mode surfaces e. Higher order sliding mode control and dynamic sliding mode control yield more accuracy and also reduce andor remove the chattering resulting from the high frequency switching of the control. Dynamic sliding mode control and output feedback 6. Smc methods have been widely studied in the last three decades from theoretical concepts to industrial applications. Even though the parameters may change with time and load. The asymptotic stability of these surfaces is proved by the lyapunov stability theory. Theory and applications series in systems and control.
Ieee transactions on control systems technology, 1999, 7, pp. Example on sliding mode control file exchange matlab. Sliding mode control is fundamentally a consequence of discontinuous control. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical. The contributed chapters have been organized by the editors to reflect the various themes of sliding mode control which are the current areas of theoretical research and applications focus. Table of content solo slide mode control smc 2 sliding mode control introduction control statement of sliding mode existence of a sliding mode reachability. This structure variation makes the system state reach in a finite time a prespecified subspace of the system state space, where the desired. Chattering is a harmful phenomenon because it leads to low control accuracy, high wear of moving mechanical parts, and high heat losses in power circuits. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of robust controllers for complex nonlinear. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which. Elements of sliding mode control theory institute for. Sliding mode control has been studied for many decades and is now one of the most active areas of research on nonlinear control theory.
In control systems, sliding mode control smc is a nonlinear control method that alters the. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. Sliding mode control in electromechanical systems, 1999. Sliding mode control is a nonlinear control method based on the use of a discontinuous control input which forces the controlled system to switch from one continuous structure to another, i. In the design of sliding mode controller the first stage is a design of sliding surface while the second is forces the state to approach the sliding surface from any other region of the state space, and remains on it 1 refer fig. Modern control theory a historical perspective pdf. A modelfree control algorithm derived using the sliding. Due to its large file size, this book may take longer to download. Modern sliding mode control theory new perspectives and applications sprnngei r. A control law is proposed here for asymptotic stabilization of the resulting periodic system by the introduction of a set of subspaces to which the system state is driven, resembling sliding mode. The motivation of this controller is to introduce the lyapunov function vx.
The key idea is to apply strong control action when the system deviates from the desired behavior. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. In recent years, an increasing interest has focused on terminal sliding mode control, with the goal of. The designed control algorithms were verified by using computer simulations. New perspectives and applications lecture notes in control and information sciences bartolini, giorgio, fridman, leonid, pisano, alessandro, usai, elio on.
How ever, its implementation in the presence of unmodeled dynamics leads to highfrequency oscillations termed chattering. In the early sixties, discontinuous control at least in its simplest form of bangbang control was a subject of study for mechanics and control engineers. Sliding mode control for systems with time delay 12. Many reports on sliding mode control and its extensions can be found in the literature, including 14. If youre looking for a free download links of sliding mode control. Control theory deals with the control of continuously operating dynamical systems in engineered processes and machines. Theory and applications, taylor and frencis, london. Pdf on nov 9, 2014, viswanath devan and others published sliding mode control a survey find, read and cite all the research you need on. Practical nonsingular terminal slidingmode control of. Understanding and applying currentmode control theory by robert sheehan the modulator voltage gain km, which is the gain from the control voltage to the switch voltage is defined as. Design and implementation of sliding mode controller for. Introduction s liding mode control smc, one of the most signi. Basic theory regularization of second order sliding mode control systems giorgio bartolini, elisabetta punta, tullio zolezzi 3 a comprehensive analysis of chattering in. Sliding mode control of electromechanical systems heide brandtst.
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