Analysis of sliding mode controllers in the frequency domain. Lecture 6 covers sliding mode control and his adaptive control lectures also include adaptive sliding mode control. There is, of course, a wealth of papers which use sliding mode control, as it is often quite e ective in applications. Even though the parameters may change with time and load, still the system. A new method to minimize the chattering phenomenon in sliding. Slidingmode control of a ball on wheel system youtube. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control performance. Teaching, analyzing, designing and interactively simulating sliding. Pdf an adaptive sliding mode control law for induction. What are the advantages of sliding mode control over pid. Moreover, some important control problems involving uncertain mechanical.
The basic idea is that people possess intuitive theories of di. Sliding mode control an overview sciencedirect topics. An intuitive design for the dual mode adaptive robust controller based on indirect control leonardo teixeira 1, josenalde oliveira 2 and aldayr araujo 3 abstract in this paper it is proposed an indirect approach to the dual mode adaptive robust controller dmarc, which combines the typical transient and robustness properties. This paper presents a comparative study of linear, sliding mode and hybrid control laws for an electropneumatic actuator in the context of position control. Sliding mode control of electromechanical systems heide brandtst. 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. Leonid fridman given a system x 0 fx,t u intuitive theory of sliding mode control unam dr. Sliding mode control smc developed in the ussr from the more general variable structure control and work in relay controls in the early 1950s. A comparative study between the firstorder sliding mode observer and supertwisting sliding mode observer is also presented.
Sliding mode control and observation yuri shtessel springer. Li prenticehall, 1991 an interesting reference in particular for sliding mode \research on gain scheduling w. High performance sliding mode tracking control for nonminimum. Sliding mode control theory and applications download. If youre looking for a free download links of sliding mode control. Sliding mode control smc is a variable structure control utilizing a highspeed switching control law to drive a system state trajectory onto a specified and user chosen surface, so called sliding surface, and to maintain the system state trajectory on the sliding surface at subsequent times. In practical applications of sliding mode control, engineers may experience undesirable phenomenon of oscillations having finite frequency and amplitude, which is known as chattering. Sliding mode controller design sliding mode control is a special version of an ono control. Finite time slide mode control slide mode controller output tracking dynamical collapse. Sliding mode control and observation yuri shtessel. One particular approach to robust controller design is the socalled sliding mode control technique. The method is proposed to design a control that guarantees both. Compared to the state space average method mohan et al. Sliding mode observers historical background and basic.
The sliding mode control design method is suited to a large group of. The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Infants already haveexpectationsaboutgoaldirectedactionsthatareguidedbytheprincipleofrational. Theory and applications, taylor and frencis, london. The sliding mode control technique is characterized by the following features. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. It can be used only when the control signal ut can switch at high frequency. Click download or read online button to get sliding mode control theory and applications book now. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Then, an improved nonlinear robust sliding mode controller is designed to promote the tracking performance considering system uncertainties and model errors, where a new nonlinear integral sliding surface is given. A new method to minimize the chattering phenomenon in sliding mode control based on intelligent control for induction motor drives ismail bendaas1, farid naceri1 abstract. Introduction with the switching property, the sliding mode theory provides an intuitive way to control switching converters siraramirez 1987, siraramirez and ilic 1988. This could in fact be done, in a first step, by using flight simulators. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs.
Control of mobile robots is a course that focuses on the application of modern control theory to the problem of making robots move around in safe and effective ways. An adaptive sliding mode control asmc scheme is proposed for the synchronization of two chaotic nonlinear systems. 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 dynamic systems operating under uncertainty. For a stable sliding mode, gmust be designed so that the nonzero eigenvalues of aeq are stable. A supertwisting sliding mode observer for boost inverter. The structure of this class is somewhat unusual since it involves many moving parts to do robotics right, one has to go from basic theory. Introduction sliding modes based control smc is becoming a very used technique in recent times. Sliding mode control theory seeks to produce controllers to over some such mismatches. This process is experimental and the keywords may be updated as the learning algorithm improves. Abstractthe fundamental nature of sliding mode control is described.
The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control. Design and implementation of sliding mode controller for. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. Researcharticle nonlinear predictive sliding mode control for active suspension system dazhuangwang,1 dingxuanzhao,1,2 mingdegong,2 andbinyang1. Application of adaptive sliding mode control for nonlinear systems. In recent years, an increasing interest has focused on terminal sliding mode control, with the goal of. Sliding mode control has been extensively used in the control of mechanical systems as an alternative to other nonlinear control strategies such as backstepping, passivity based control etc. Pdf in this chapter, we propose an adaptive sliding mode approach based on. Robust control technology based on this methodology has been applied to many realworld problems, especially in. Sliding mode control of uncertain parameterswitching hybrid systems is a comprehensive reference for researchers and practitioners working in control engineering, system sciences and applied mathematics, and is also a useful source of information for senior undergraduate and graduates studying in these areas. The statefeedback control law is not a continuous function of time. The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. Chaos control using slidingmode theory sciencedirect.
Intuitive theories mit massachusetts institute of technology. An intuitive theory probably endorsed by most people and officially endorsed by the supreme court is that predictions or judgments made with high confidence are more likely to be correct than predictions or judgments made with low confidence. In this work, we choose the predator virtual model flying in microsoft. Sliding mode control smc is basically a nonlinear discontinuous. Nonlinear predictive sliding mode control for active. Secondorder sliding mode control for variable speed wind. Read chapter 7 intuitive theories of behaviorhal r. Abstractthis is an intuitive introduction to classic sliding mode control that.
Sliding mode control of an uninterruptible power supply 88 disturbances e. From infancy to preschool, a childs intuitive theory of mind traverses through qualitatively distinct stages. A control engineers guide to sliding mode control k. 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. Sliding mode control encyclopedia of life support systems. Standard ode theory fails lack of a lipschitz condition filippov and utkin proposed constructions to generate. An intuitive design for the dual mode adaptive robust. Index terms sliding mode control, interactive simulations, control education. Indeed, in the mid 1970s the control committee system started to adapt the sliding mode theory outside russia. Spurgeon, s and a great selection of similar new, used and collectible books available now at great prices. 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. Dobbiaco summer school dobbiaco bz 2226 june 2009 254 introduction to sliding modes in variable structure systems sliding mode control of uncertain systems.
This is an intuitive introduction to classic sliding mode control that shows how the associated assumptions and condition for its use arise in the context of a derivation of the method. Design is decoupled into two independent subproblems. Chapters 10 and 11 are dedicated to time delay effects. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in sliding modes sliding mode control design using outline 1 the sliding mode control. What do we mean when we say that peoples knowledge is represented in the form of intuitive theories. Frazzoli mit nonlinear control december 3, 2010 2 14. For output tracking intuitive choice of control law. Dobbiaco summer school dobbiaco bz 2226 june 2009 2 higher order sliding modes in variable structure systems control problem statement dynamic higher order sliding mode control.
Since conventional ntsmc utilizes a discontinuous switching function, a significant flaw called chattering can occur. A novel combination of model predictive control mpc and sliding mode control smc is presented in this paper. The linear and linearised theory geometric sliding mode. It offers an accurate assessment of the socalled chattering phenomenon, catalogs. Aeq has a closedloop state feedback form with a funny feedback gain. Pdf adaptive sliding mode control based on the extended. This has led to intense interest in the development of the socalled robust control methods which are supposed to solve this problem. These keywords were added by machine and not by the authors. This site is like a library, use search box in the widget to get ebook that you want. Sliding mode control, nonlinear sliding surface, special coordinate. In general comparison between any two controller should be based on certain particular cases, because one controller may not be. Here, some basic features of control algorithms derived from a suitable combination of sliding mode and adaptive control theory are presented. Chattering attenuation sliding mode approach for nonlinear.
The linear controllers include gainscheduledproportionalvelocityacceleration and proportionalderivative. It is insensitive to model imprecision caused from unmodeled dynamics, unknown disturbances and variation in parameters. 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. In most realworld applications, chattering will occur so a boundary layer is often employed you essentially are scooting further away from perfect tracking to decrease. This ball on wheel system was designed and built at lca and the controller was developed as a final course work on pmr5014, taught by professor eduardo a. 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. Stabilization of a ball on sphere system using sliding. Sliding mode, speed tracking, mppt, wind turbine, dc generator. Nonlinear sliding mode control of the lower extremity. The intent in this paper is to propose a way of thinking about sliding mode control, and to illustrate that this way of thinking about sliding mode control o ers some nice insights into existing strategies. Theory and applications series in systems and control 9780748406012 by edwards, c. The notion of sliding mode control smc appeared in the former soviet union in the early 1960s. This state is called sliding mode and the control based on this is called sliding mode control which has a very important role in the control of power electronic devices. An intuitive design for the dual mode adaptive robust controller based on indirect control leonardo teixeira 1, josenalde oliveira 2 and aldayr araujo 3 abstract in this paper it is proposed an indirect approach.
In two dimensional sliding mode, the system motion is 1 of order which is by two less than the order of the original system. Second order sliding mode controllers and differentiators. Sliding mode control has been studied for many decades and is now one of the most active areas of research on nonlinear control theory. Cleveland state university mechanical engineering department. One of the strongest pieces of evidence for the existence of intuitive theories comes from childrens development of a theory of mind. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule.
This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control ntsmc. Classic sliding mode control from first principles semantic scholar. The big takeaway for sliding mode control is that you get nearly perfect tracking at the cost of considerable control effort. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. The simulation and experimental results are given to demonstrate and validate the. Higher order sliding mode controllers and differentiators. The stability analysis of the proposed controller is performed using lyapunov stability theory. A supertwisting sliding mode observer is used for estimation of the states of the boost inverter. In the context of modern control theory, any variable structure system, like a system under.
The sliding mode controllers include first, second and third order sliding mode control laws. Sliding mode control smc is basically a roust control technique which is used to control systems with uncertainties. Adaptive control neural network augmentation lyapunovbased methodscontraction theory control lyapunov functions sliding mode control backstepping computationallogic approaches hybrid systems model predictive control e. Yuri shtessel, christopher edwards, leonid fridman. An adaptive sliding mode control law for induction motors using field oriented control theory. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Recent developments in sliding mode control theory and. Sliding modes based control smc is becoming a very.
Robust control technology based on this methodology has been applied to many realworld problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. The key idea is to apply strong control action when the system deviates from the desired behavior. Article information, pdf download for application of adaptive sliding mode control for. Design control function u to provide asymptotic stability in presence of bounded uncertain term, that contains model uncertainties and external. In control systems, sliding mode control smc is a nonlinear control method that alters the. Sliding mode control provides a satisfactory performance with a simple control structure. The sliding mode control input is a combination of. Many reports on sliding mode control and its extensions can be found in the literature, including 14. Based on sliding mode control, a controller is designed to achieve the closedloop stability of the system. In 1976 itkis published a book about sliding mode theory then is followed by and survey paper by utkin in 1977 1. The motivation of this controller is to introduce the lyapunov function vx. This viewpoint leads to an interpretation of the false belief transition as a revision of the childs intuitive theory. This book is a collection of invited chapters covering several areas of modern sliding mode control theory. 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.
313 583 1100 1281 1454 522 1107 168 927 720 268 754 857 1023 1386 1194 341 1332 1278 27 1357 873 642 1363 271 937 125 679 195 653 490 685 1400 272 571 630 143 10 826 1301 414 1451 166 1351 1431