If youre looking for a free download links of sliding mode control. Kop sliding mode control and observation av yuri shtessel, christopher edwards, leonid fridman, arie levant pa. The objective is to develop a control model for controlling such systems using a control action in an optimum manner without delay or overshoot and ensuring control stability. Theory and applications series in systems and control 9780748406012 by edwards, c. Apr 09, 2015 the authors identify key contributions defining the theoretical and applicative stateoftheart of the sliding mode control theory and the most promising trends of the ongoing research activities. Sliding mode control in electromechanical systems automation and control engineering. New perspectives and applications lecture notes in control and information sciences giorgio bartolini, leonid fridman, alessandro pisano, elio usai on. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding mode control term is applied to compensate the unknown disturbance. Terminal sliding mode control for nonlinear systems with both. Classical nonlinear systems control methods sciencedirect.
Index terms discretetime systems, multivariable systems. Ece 680 modern control theory spring, 2008 instructor. Research article adaptive backstepping slidingmode control. Research article adaptive backstepping slidingmode. In control systems, sliding mode control smc is a nonlinear control method that alters the. Sliding mode control smc is a powerful and robust control method. Sliding mode control, pid controller, chattering phenomenon, nonlinear system.
Performance comparison of sliding mode control and. Application of the theory of differential equations with discontinuous. Traditional sliding mode control cannot predict the time in reaching sliding surface and assure system robustness. Theory and applications, taylor and frencis, london. 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. The authors identify key contributions defining the theoretical and applicative stateofthe. The key idea is to apply strong control action when the system deviates from the desired behavior. Sliding mode control encyclopedia of life support systems. Preparing this book we tried to identify key contributions dening the theoretical and applicative state of the art of the sliding mode control theory and the most promising trends of.
Sliding mode control theory and applications download. Introduction figure 1 1 2 shows the rikitake twodisk dynamo. This book describes recent advances in the theory, properties, methods and. The book also covers applications of robust and adaptice control to chemical and biotechnological systems. The desired output of a system is called the reference. Sliding mode control of an uninterruptible power supply 88 disturbances e. To abstract from the number of inputs, outputs, and states. Adaptive backstepping slidingmode control of the electronic. Isbn 97895352714, eisbn 97895352721, pdf isbn 9789535147718, published 20170628. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. Abstract this paper presents a guide to sliding mode control for practicing control engineers.
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. Chapter 3 studies classical nonlinear system control methods, such as feedback control and backstepping control. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding mode controller of the electronic throttle is developed. The study showed that the designed controller was so effective in controlling the unstable chaotic oscillations. The statefeedback control law is not a continuous function of time. Sliding mode control in engineering, edited by wilfrid perruquetti and jean pierre barbot.
In contrast to the frequency domain analysis of the classical control theory, modern control theory utilizes the timedomain state space representation, a mathematical model of a physical system as a set of input, output and state variables related by firstorder differential equations. Poleplacement in higherorder slidingmode control arxiv. An alternative to the measurement of fivelinks biped robot absolute orientation. Design is decoupled into two independent subproblems. However, sliding mode control did not receive wide acceptance among engineering professionals until the mid 1970s when a book by itkis 8 and a survey paper by utkin 19 were published in english. Finally, the faulttolerant control theory is verified to be valid via. Bartolini and others published modern sliding mode control theory. This book is a collection of invited chapters covering several areas of modern sliding mode control theory. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. This site is like a library, use search box in the widget to get ebook that you want. This edited monograph contains research contributions on a wide range of topics such as stochastic control systems, adaptive control, sliding mode control and parameter identification methods. Sliding mode control is a nonlinear control strategy. Estimation based on high order sliding mode pages 363380 lebastard, vincent et al. Theory and applications series in systems and control full online, new pdf 2018 sliding mode.
The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using outline 1 the sliding mode control. Sliding mode control is one of the robust and effective methods to cope with uncertain conditions. First, for a class of nonlinear system, feedback controller is designed based on lyapunov stability theory, to achieve asymptotic stability of the closedloop systems. Spurgeon, s and a great selection of similar new, used and collectible books available now at great prices. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Read download sliding mode control pdf pdf download. For the control case, the driving signal will be the control input and for the observer problem the driving signal is likely to be an unknown input which the observer seeks to reconstruct. Modern sliding mode control theory, new perspectives and applications. Modern sliding mode control theory new perspectives and applications sprnngei r. Preface find, read and cite all the research you need on researchgate. Research article adaptive backstepping sliding mode control of the electronic throttle system in modern automobiles ruibaiandshaochengtong school of electrical engineering, liaoning university of technology, jinzhou, china.
Research article adaptive backstepping slidingmode control of the electronic throttle system in modern automobiles ruibaiandshaochengtong school of electrical engineering, liaoning university of technology, jinzhou, china. Modern torpedoes are the most effective marine weapons but they have a range. 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. This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by.
Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Sliding mode control systems igor boiko, leonid fridman, alessandro pisano, elio usai 23 analysis of closedloop performance and frequencydomain design of compensating filters for sliding mode control systems igor boiko 51 discontinuous homogeneous control arie levant, lela alelishvili 71 secondorder sliding sector for variable structure control. The theory of sliding mode control has been developed firstly in the soviet union in early 1950s 18. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation. A control engineers guide to sliding mode control control. Super twisting sliding mode control with region boundary scheme for.
This concise book covers modern sliding mode control theory. Proceedings of the 38th southeastern symposium on system theory, pp. A high order sliding mode control with pid sliding surface arxiv. Design and implementation of sliding mode controller for. Sliding mode control of electromechanical systems heide brandtst.
On slide mode control of chaotic rikitake twodisk dynamo. In particular, adaptive control and sliding mode control methods have been. New perspectives and applications of modern control theory. There are two reasons which can lead to chattering. 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. Simr oc k desy,hamb urg, german y abstract in engineering and mathematics, control theory deals with the beha viour of dynamical systems. Sliding mode control theory seeks to produce controllers to over some such mismatches. Recent developments in sliding mode control theory and applications. The motivation of this controller is to introduce the lyapunov function vx.
Sliding mode controller design sliding mode control is a special version of an ono control. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Publication date 19980101 topics control systems, modern control, state space, servosystems collection folkscanomy. In the context of modern control theory, any variable structure system, like a system under. The authors identify key contributions defining the theoretical and applicative stateoftheart of the sliding mode control theory and the most promising trends of the ongoing research activities. This text provides the reader with a grounding in sliding mode control. To design a variable structure vs control system with sliding mode, it is necessary to determine a sliding surface and a vs control law such that the reducedorder system on the sliding surface. Pdfbocker lampar sig inte for lasning pa sma skarmar, t ex mobiler. Smc methods have been widely studied in the last three decades from theoretical concepts to industrial applications. The authors identify key contributions defining the theoretical and applicative state of the art of the sliding mode control theory and the most promising trends of the ongoing research activities.
Sliding mode control design sliding mode equation is of reduced order. Modern control system theory and design shinner by stanley m. 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. Sliding mode in discontinuity surfaces and their intersection. Modern control system theory and designbystanley shinners. Circumventing the relative degree condition in sliding. Recent developments in sliding mode control theory and. Sliding mode control and observation yuri shtessel, christopher. It should be noticed that, in modern industrial systems, the high frequency. Linear systems sliding mode control tracking trend uncertain systems variable structure systems control control system control theory measurement nonlinear system robot sampling. In control theory, 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 system to slide along a crosssection of the systems normal behavior. Basic theory regularization of second order sliding mode control systems giorgio bartolini, elisabetta punta, tullio zolezzi 3 a comprehensive analysis of chattering in second order. In the chapter, some higher order sliding mode control techniques are con.
Modern sliding mode control theory new perspectives and. The dcdc converters, which are nonlinear and time variant system, and do not lend themselves to the application of linear control theory, can be controlled by means of slidingmode sm control, which is derived from the. When one or more output variables of a system need to follo w a certain ref. Download limit exceeded you have exceeded your daily download allowance. Theory and practice, second edition, revised and expanded, frank l. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. 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.
Learn control of mobile robots from georgia institute of technology. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. Conventional smc theory is fairly complete in the sense that there exist several methods for choosing a sliding variable with desired zero dynamics slidingmode dynamics in the smc literature. Keywords chaos theory, nonlinear control, magnetic theory, sliding mode control theory 1. Adaptive sliding mode control for highfrequency sampled. In the past years, an extensive literature has been devoted to the developments of sliding mode control theory. Control theory and applications the classical sliding mode control smc leads. It offers an accurate assessment of the socalled chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research. It also often has chattering phenomena for which the sliding mode controller is applied.
During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and slidingmode control term is applied to compensate the unknown disturbance. Exercises provided at the end of each chapter make this an ideal text. Regularization of second order sliding mode control systems. Control theory in control systems engineering is a subfield of mathematics that deals with the control of continuously operating dynamical systems in engineered processes and machines. Linear systems sliding mode control tracking trend uncertain systems variable structure systems control control system control theory measurement nonlinear system robot sampling rate sliding mode control stabilization. Conventional smc theory is fairly complete in the sense that there exist several methods for choosing a sliding variable with desired zero dynamics sliding mode dynamics in the smc literature. Linear systems slidingmode control tracking trend uncertain systems variable structure systems control control system control theory measurement nonlinear system robot. In control theory, 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 system to slide along a crosssection of the systems normal behaviour. Based on the model and using the backstepping design technique, a new adaptive backstepping slidingmode controller of the electronic throttle is developed. Variable structure systems, sliding mode and nonlinear control, 329350, 1999.
941 570 580 590 387 1510 263 436 356 376 1463 1099 499 1217 140 1123 1432 520 555 1303 139 174 942 39 836 959 814 1397 246 1143 581 1104 1056 648 433 258 867 1044 68 659 434 990 211