Sliding mode control design for a class of siso systems. The potential of sliding mode control methodology is demonstrated for versatility of electric. In the second part, a general study of systems operating in sets of arbitrary sliding mode order is presented, outlining the fundamentals of higherorder sliding mode control theory. Backstepping and dynamic surface sliding mode control 7. Sliding order and sliding accuracy in sliding mode control. The key idea is to apply strong control action when the system deviates from the desired behavior.
It can be used only when the control signal ut can switch at high frequency. 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. Mar 15, 2007 this sliding mode is characterized, in practice, by a highfrequency switching of the control. Particular emphasis is placed on describing constructive frameworks to facilitate sliding mode control design. Sliding mode control with autotuning law for maglev system.
Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Sliding mode control is a powerful robust approach for controlling the nonlinear dynamic systems 9. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed. In this paper, the sliding surface is defined based on inc method. The statefeedback control law is not a continuous function of time. The motivation of this controller is to introduce the lyapunov function vx. Integral sliding mode in systems operating under uncertainty conditions v utkin, j shi proceedings of 35th ieee conference on decision and control 4, 45914596, 1996.
Example on sliding mode control file exchange matlab central. It catalogues implementable sliding mode control design solutions, and provides a tutorial for control engineers who are interested in applying sliding mode. Sliding mode control and observation yuri shtessel springer. 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 in. The advantage of sliding mode control is robustness against parameter matched uncertainties and external disturbance and so on. On sliding mode control design for uav using realistic. In the case of nonlinear systems an equivalent control concept makes it possible to develop finitetime observers for a wide class. Hence the sliding mode control is a two part controller design.
A tutorial revisiting of the traditional sliding mode control of dctodc power supplies, or power converters, of the buck,boost and buckboost types is presented. Jun 11, 20 this is a specific type of variablestructure control system vscs. Control systems vscs are designed to drive and then constrain the system state to lie within a neighbourhood of the. Discusses the problem of designing observers for state estimation using sliding modes. Proceedings of the ieee conference on control applications, pp.
The developments are illustrated with numerical examples throughout. Emphasis is placed upon presenting a constructive theoretical framework to facilitate practical design. Introduction sliding mode control evolved from pioneering work in the 1960s in the former soviet union 1, 2, 3, 4. Journal of the franklin institute special issue on 2010. Mar 23, 2018 this lecture introduces sliding mode control smc in a very easy to understand way. Control schemes developed in this chapter are based on controlling wheel slip. Special issue on 20102012 advances in variable structure systems and sliding mode algorithms edited by michael basin, leonid fridman, wilfrid perruquetti volume 351, issue 4. The sliding mode control technique is characterized by the following features. Sliding mode compensation, estimation and optimization. Y robust fault detection in nonlinear systems using slidingmode observers. The limitations of the traditional indirect sliding mode controller schemes are critically evaluated.
Keywords sliding mode control, discontinuous control, multimodel fusion, lyapunov stability, stabilization. The paper deals with c code implementation of sliding mode control into simulink environment. It is shown that the main advantages of sliding mode control are order reduction. This is a specific type of variablestructure control system vscs. Pdf sliding mode control design principles and applications to. The use of sliding mode control ideas in automotive control applications has also been reported see, for instance. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Sliding mode control with industrial applications ece rutgers. On the generalized pi sliding mode control of dctodc power. It focuses on secondorder sliding mode sosm controllers design, particularly on three of the most widely used sosm algorithms, namely twisting, supertwisting. A new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced.
It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Sliding mode control design for a class of siso systems with. Sliding mode control based on filter and observer 8. Based on your location, we recommend that you select. 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. In 9 a second order discrete sliding mode control approach was used for the temperature.
The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain singleinputsingleoutput systems is studied. The system is a second order dynamic system, consisting of a mass and a damper. Sliding mode control and observation yuri shtessel. Maximum power point tracking using sliding mode control. Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control. The main arguments in favor of sliding continue reading. The design case is handled by using the invariant transformation first in order to separate the sliding mode and the reaching mode of the sliding mode control system. Extended state observerbased sliding mode control with.
In the early 1950s, emelyanov and several coresearchers such as utkins anditkis1from the soviet union, proposed and elaborated the variable structure controladvanced sliding mode control for mechanical systems tsinghua university press, beijing and springerverlag berlin. Sliding mode control lecture 01 by yasir amir khan youtube. Sliding mode control utilizes discontinuous control laws to drive the system state trajectory onto a specified surface in the state space, the so called sliding or switching surface, and to keep the system state on this manifold for all the subsequent times. Second order sliding mode control with finite time. Sliding mode control encyclopedia of life support systems. The results of numeric experiments demonstrate the effectiveness of the obtained controls, and the comparisons with a conventional rst order sliding mode control, having the function sign proportional to a constant gain, and a recent quasicontinuous sliding mode control are also. Explore prime new internship new upload login register. 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 programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. 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 theory seeks to produce controllers to over some such mismatches. Second order sliding mode control with finite time convergence. The focus of much of the research in the area of control systems theory during the seventies and eighties addressed the issue of robustness i. 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. A pidsliding mode control design for a coupled tank. Anyone who has background in nonlinear control can easily understand it. Sliding mode controller design sliding mode control is a special version of an ono control. Emphasis is placed upon presenting a constructive theoretical framework to facilitate. The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. Fundamentals of slidingmode control design springerlink. The theory and design principles are presented for linear and nonlinear systems.
Example on sliding mode control file exchange matlab. It turns out that the deviation of the system from its prescribed constraints sliding accuracy is proportional to the switching time delay. Variable structure control of nonlinear multivariable systems. 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 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. On the generalized pi sliding mode control of dctodc. Design is decoupled into two independent subproblems.
Designing robust control by sliding mode control technique. One nonlinear approach to robust controller design which emerged during this period is the variable. First, an exponential functionbased sliding mode reaching law esmrl is developed. It is shown that the sliding mode design needs not to consider the. Advanced sliding mode control for mechanical systems. Choose a web site to get translated content where available and see local events and offers.
Introduction in this chapter, controllers are designed which achieve wheelslip control for vehicle motion. Sliding mode observers historical background and basic. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Control systems vscs are designed to drive and then constrain the system state to lie within a. Control of braking force is attained by controlling the wheel slip because of the relationship.
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