It focuses on secondorder sliding mode sosm controllers design, particularly on three of the most widely used sosm algorithms, namely twisting, supertwisting. The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. Sliding mode control design for a class of siso systems. 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. Anyone who has background in nonlinear control can easily understand it. Design is decoupled into two independent subproblems. Sliding order and sliding accuracy in sliding mode control. 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.
The limitations of the traditional indirect sliding mode controller schemes are critically evaluated. 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. Second order sliding mode control with finite time convergence. Introduction in this chapter, controllers are designed which achieve wheelslip control for vehicle motion. Control systems vscs are designed to drive and then constrain the system state to lie within a. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed. Sliding mode control with autotuning law for maglev system. On sliding mode control design for uav using realistic. The theory and design principles are presented for linear and nonlinear systems. On the generalized pi sliding mode control of dctodc power.
Based on your location, we recommend that you select. Emphasis is placed upon presenting a constructive theoretical framework to facilitate practical design. In 9 a second order discrete sliding mode control approach was used for the temperature. Designing robust control by sliding mode control technique. First, an exponential functionbased sliding mode reaching law esmrl is developed. Particular emphasis is placed on describing constructive frameworks to facilitate sliding mode control design. In this paper, the sliding surface is defined based on inc method. Journal of the franklin institute special issue on 2010. Sliding mode control of electromechanical systems heide brandtst. Sliding mode compensation, estimation and optimization. A new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced. Sliding mode controller design sliding mode control is a special version of an ono control. The potential of sliding mode control methodology is demonstrated for versatility of electric.
Discusses the problem of designing observers for state estimation using sliding modes. 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. The main arguments in favor of sliding continue reading. It turns out that the deviation of the system from its prescribed constraints sliding accuracy is proportional to the switching time delay. Extended state observerbased sliding mode control with. Backstepping and dynamic surface sliding mode control 7. 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. Explore prime new internship new upload login register. This paper presents sliding mode as viewed from control engineering practice. The advantage of sliding mode control is robustness against parameter matched uncertainties and external disturbance and so on. Example on sliding mode control file exchange matlab. Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control. Hence the sliding mode control is a two part controller design. Example on sliding mode control file exchange matlab central.
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. It catalogues implementable sliding mode control design solutions, and provides a tutorial for control engineers who are interested in applying sliding mode. The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. Fundamentals of slidingmode control design springerlink. This lecture introduces sliding mode control smc in a very easy to understand way. The paper deals with c code implementation of sliding mode control into simulink environment. Sliding mode control and observation yuri shtessel. Control schemes developed in this chapter are based on controlling wheel slip.
The use of sliding mode control ideas in automotive control applications has also been reported see, for instance. A pidsliding mode control design for a coupled tank. 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. One nonlinear approach to robust controller design which emerged during this period is the variable. Advanced sliding mode control for mechanical systems. 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. Choose a web site to get translated content where available and see local events and offers. In the case of nonlinear systems an equivalent control concept makes it possible to develop finitetime observers for a wide class. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. On the generalized pi sliding mode control of dctodc. The system is a second order dynamic system, consisting of a mass and a damper. Introduction sliding mode control evolved from pioneering work in the 1960s in the former soviet union 1, 2, 3, 4. 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. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a.
Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain singleinputsingleoutput systems is studied. It is shown that the sliding mode design needs not to consider the. This tutorial paper seeks to introduce sliding mode control. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Mar 15, 2007 this sliding mode is characterized, in practice, by a highfrequency switching of the control. Sliding mode control based on filter and observer 8. 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. 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. Sliding mode control with industrial applications ece rutgers. Sliding mode control design for a class of siso systems with.
It can be used only when the control signal ut can switch at high frequency. Second order sliding mode control with finite time. Proceedings of the ieee conference on control applications, pp. Sliding mode observers historical background and basic. Variable structure control of nonlinear multivariable systems. Jun 11, 20 this is a specific type of variablestructure control system vscs. 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. 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.
This is a specific type of variablestructure control system vscs. 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. Pdf sliding mode control design principles and applications to. Sliding mode control lecture 01 by yasir amir khan youtube. The sliding mode control technique is characterized by the following features.
Y robust fault detection in nonlinear systems using slidingmode observers. Keywords sliding mode control, discontinuous control, multimodel fusion, lyapunov stability, stabilization. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Introduction the sliding mode approach is classified in the monitoring with variable system structure vss. Control of braking force is attained by controlling the wheel slip because of the relationship. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. 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. Mar 23, 2018 this lecture introduces sliding mode control smc in a very easy to understand way. On the other hand, sliding mode control theory 22, 24 has been investigated in detail over the last there decades and it currently offers numerous systematic design methods applicable to several industrial control problems. Emphasis is placed upon presenting a constructive theoretical framework to facilitate. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control.
The motivation of this controller is to introduce the lyapunov function vx. The developments are illustrated with numerical examples throughout. Sliding mode control and observation yuri shtessel springer. Sliding mode control with industrial applications wuchung su, ph.
Control systems vscs are designed to drive and then constrain the system state to lie within a neighbourhood of the. 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. 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. Maximum power point tracking using sliding mode control. Sliding mode control theory seeks to produce controllers to over some such mismatches. The key idea is to apply strong control action when the system deviates from the desired behavior. Sliding mode control is a powerful robust approach for controlling the nonlinear dynamic systems 9. It is shown that the main advantages of sliding mode control are order reduction.
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