This job can be achieved by applying lyapunov function techniques to the e dynamics using equations 1 and 2. Advanced sliding mode control for mechanical systems slideshare uses cookies to improve functionality and performance, and to provide you with relevant advertising. Sliding mode controller design sliding mode control is a special version of an ono control. Higherorder sliding mode control, finite time stability, homogeneity. The main objective of this chapter is the design of a robust control law.
The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. It can be used only when the control signal ut can switch at high frequency. The paper deals with c code implementation of sliding mode control into simulink environment. 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. Sliding mode control for trajectory tracking of intelligent. First, an exponential functionbased sliding mode reaching law esmrl is developed. The fundamental nature of sliding mode control is described.
Passive impedancebased secondorder sliding mode control for. The ideal sliding mode occurs if there exists a finite tim tes such that y cx 0, t t s 3 where the time ts is th time e when the sliding mode is reached. The key idea is to apply strong control action when the system deviates from the desired behavior. The motivation of this controller is to introduce the lyapunov function vx. Introduction the sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under. Choose a web site to get translated content where available and see local events and offers. Scribd is the worlds largest social reading and publishing site. Sliding mode control of induction motor using simulation. Free body diagram of abs the car velocity is equal to the angular velocity of the lower wheel multiplied by the radius of this wheel, while the angular velocity of the wheel is equal to the upper wheel angular velocity. The sliding mode control is demonstrated for linear timeinvariant systems and for control of induction motors. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior.
Application backgroundsliding mode control is a robust and strong operation for controlling nonlinear dynamicsof systems that are usually used in engineering and other applications. 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. Based on your location, we recommend that you select. Design, analysis and matlab simulation takes readers through the basic concepts, covering the most recent research in sliding mode control. The esmrl can dynamically adapt to the variations of the controlled system. Novel switching function and approaching condition based on the derivative of sliding surface are introduced. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The equivalent control ueq can be determined imposing s. Emphasis is placed upon presenting a constructive theoretical framework to facilitate practical 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. Sliding mode control with industrial applications wuchung su, ph. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Introducing fractional sliding mode control duarteval.
It is shown that the main advantages of sliding mode control are order reduction. 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. The contributions presented here include new theoretical. The design methodology is illustrated by sliding mode control in linear systems eigenvalue placement, optimization. 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. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed. It can be easily be seen that the system is unstable in either negative or positive feedback mode. If you continue browsing the site, you agree to the use of cookies on this website.
Designing robust control by sliding mode control technique 9 take the sliding variable to zero in finite time by the means of control u. Sliding mode control smc technique is one of the important robust control approaches. However, the sliding mode control will bring in inevitable system chattering, which makes the presentday research on the application of sliding mode control to the actual motor drive system. More analysis again, property not present in constituent systems is found in the combined system. Many applications of variable structure control in robotics have been reported 18, 19, 20. The statefeedback control law is not a continuous function of. Slidingmode control design generally involves two main steps. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. The sliding mode control smc is an effective method for control of nonlinear uncertain systems, with a very large frame of applications fields especially in biological systems slotine and li. Sliding mode control ppt final control theory servomechanism. Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. That means e x can converge to zero and e can converge to arctan er yv, so it comes with 0 e y and 0 e. Isbn 9789533071626, pdf isbn 9789535160021, published 20110411.
Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Designing robust control by sliding mode control technique. On the sliding mode control of nonlinear systems sciencedirect. Jan 22, 2016 in control system, sliding mode control, or smc, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the. Both backstepping control bc and sliding mode control smc have been studied extensively over the past few decades, and many variations of controller. Sliding mode control design generally involves two main steps.
Jmse free fulltext sliding mode control in backstepping. Abstract sliding mode control provides insensitivity to parameter variations and disturbances. A new control technique of double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding. Fractionalderivatives,fractionalcalculus,fractionalcontrol,slidingmodecontrol,nonlinearcontrol. The sliding mode control has a unique place in control theories.
Sliding mode control provides insensitivity to parameter variations and disturbances. Advanced sliding mode control for mechanical systems. These robustness properties make this discontinuous control strategy very attractive. Jun 28, 2015 sliding mode control for undamped system. An introduction 17 the sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. Sliding mode control theory seeks to produce controllers to over some such mismatches. Design of sliding mode controller for robot manipulator vsc systems comprise a collection of different, usually quite simple, feedback control laws and a decision rule. Particular emphasis is placed on describing constructive frameworks to facilitate sliding mode control design. Block diagram of sliding mode control for second order system.
In this paper, the sliding surface is defined based on inc method. This tutorial paper seeks to introduce sliding mode control. Extended state observerbased sliding mode control with. 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 observers historical background and basic. Sliding mode with exponential reaching law control of doublefed. Design of the sliding mode controller in the real sliding mode control system, chattering must be exist, and if the chattering is eliminated, so will the abilities of antiproactive and antidisturbance of the variable structure control. Sliding mode control smc is a special nonlinear control method with advantages such as fast response, strong robustness and simple realization. Sliding mode control with state derivative output feedback.
A thesis submitted in partial fulfilment of the requirements for the degree of. Moreover, some important control problems involving uncertain mechanical. In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor pmsm in speed control, sliding mode control with extended state observer is adopted in this paper. This monograph presents a novel method of sliding mode control for switchregulated nonlinear systems. Sliding mode control encyclopedia of life support systems. Control systems vscs are designed to drive and then constrain the system state to lie within a neighbourhood of the. A modelfree control algorithm derived using the sliding. The design of feedback control in the systems with sliding modes implies design of manifolds in the state space where control components undergo discontinuities, and control functions enforcing motions along the manifolds. Perhaps the most commonly implemented higher order sliding mode control is the supertwisting algorithm which is a second order sliding mode control. Explore prime new internship new upload login register.
This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical. In control system, sliding mode control, or smc, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the. Pdf simple homogeneous slidingmode controller researchgate. First, the exact mathematical treatment represents numerous interesting challenges for the mathematicians. Moldoveanu, f sliding mode controller design for robot manipulators 99 this is the 2nthorder system having n input. Maximum power point tracking using sliding mode control for. The sliding mode control technique is characterized by the following features. Implications of fliesss differential algebraic ap proach for the study of systems dynamics are. Jun 11, 20 advanced sliding mode control for mechanical systems slideshare uses cookies to improve functionality and performance, and to provide you with relevant advertising. A framework for synthesis of classical sliding mode controllers is described in section iii and section iv presents a tutorial design example. 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. In control systems, sliding mode control smc is a nonlinear control method that alters the.
The developments are illustrated with numerical examples throughout. Exact modeling is not necessary, since the control is based only on knowledge of uncertainties or variation bounds of the system model9. Note that when the system is in sliding mode, the system behavior. Pdf on nov 9, 2014, viswanath devan and others published sliding mode control a survey find. However, its implementation in the presence of unmodeled dynamics leads to highfrequency. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. The delta sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode.
In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. Sliding mode control is fundamentally a consequence of discontinuous control. The delta sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller. Simple homogeneous slidingmode controller, automatica, 675.
Sliding mode control smc is basically a highspeed switching. Consider a simple second order under damped linear system with variable plant gain k. This paper investigates the novel sliding mode control design with state derivative output feedback in nontraditional reciprocal state space rss form. Figure 1 shows an example trajectory of a system under sliding mode control. Implications of fliesss differential algebraic ap proach for the study of systems dynamics are explored in the context of. The objective is also accomplished to enlarge the inner bound of region of attraction for closedloop dynamics. Pdf highorder sliding mode hosm control is known to provide for finitetime exact output. Sliding mode control of induction motor using simulation approach. A modelfree control algorithm derived using the sliding mode. Secondly, in many cases it can be relatively easy to apply without a deeper understanding of its strong mathematical background and is therefore widely used in engineering. The method is proposed to design a control that guarantees both asymptotic and finite time stability given helped by bilinear. Maximum power point tracking using sliding mode control.
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