The system is a second order dynamic system, consisting of a mass and a damper. Sliding mode control ppt final free download as powerpoint presentation. This paper proposes a novel adaptive supertwisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain singleinputsingleoutput systems is studied. Nonlinear sliding surface based second order sliding mode. Sliding mode control in electro mechanical systems. 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.
Pdf slidingmode tracking control of surface vessels. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order supertwisting sliding mode control strategy is employed, which not only can combine the advantages. Residue theorem based soft sliding mode control for wind. Design is decoupled into two independent subproblems. 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. The statefeedback control law is not a continuous function of time.
Using the global sliding mode control gsmc technique, a new robust controller is presented to improve the robustness and stability of the system. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Multivariable sliding mode control design for aircraft engines sirirat sangwian abstract many control theories are used in controlling aircraft engines. A sliding mode control with nonlinear fractional order pid. Sliding mode control using novel sliding surfaces, springer. Sliding mode control encyclopedia of life support systems. Sliding mode control is a particular class of variable structure control which was introduced by emelyanov and his colleagues.
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. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using sliding mode control design the controller design since the function. If youre looking for a free download links of sliding mode control. Second order adaptive time varying sliding mode control for. Sliding mode control theory and applications pdf ontario. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Request pdf on sep 1, 2009, bijnan bandyopadhyay and others published sliding mode control using novel sliding surfaces find, read and cite all the. Sliding mode observers historical background and basic. The following strategy aims to design a novel nonlinear sliding surface function, with a double closedloop structure of voltage and current. The key idea is to apply strong control action when the system deviates from the desired behavior. Nonsingular terminal sliding mode guidance with impact angle. Example on sliding mode control file exchange matlab central. The proposed controller is able to eliminate chattering in the control input.
Presents an overview over sliding mode control using novel sliding surfaces. The sliding mode manifold and the corresponding lyapunov function are obtained if the iterative sos optimization program has a solution. Sliding mode control for nonlinear systems with adaptive. Design and analysis of adaptive supertwisting sliding mode. Robust adaptive sliding mode control using fuzzy modelling. Pdf speed control of pmsm by sliding mode control and pi. Part of the lecture notes in control and information sciences book series lncis. The sliding surface is moved repetitively toward the target sliding surface in order to ensure that the system trajectory is close to the actual surface during the whole control process. The design paradigms of sliding mode c trol has now become a mature design technique for the design of robust c troller of uncertain system.
Fast rise, low overshoot and small settling time are the derived benefits. A new method combining trajectory planning, tracking and coordinated control for unmanned surface vessels is presented based on nonlinear sliding mode control. Using the control inputs derived from these sliding surfaces, the state variables converge to their desired values in finitetime. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. Research article sliding mode control design for a class of. A novel sliding mode controller smc with nonlinear fractional order pid sliding surface based on a novel extended state observer for the speed operation of a surfacemounted permanent magnet synchronous motor spmsm is proposed in this paper. The objectives of the paper are i to develop a new 4d conservative chaotic system with hidden chaotic orbits, ii to design a second order adaptive time varying sliding mode control for the synchronization between two identical proposed chaotic systems in the presence of matched disturbances and iii to compare the performances of the.
Simulation results are given for a spacecraft tracking a complex desired trajectory. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Two distinctions of the proposed method from reported methods are. Sliding mode control based on novel nonlinear sliding. Sliding mode control of electromechanical systems heide brandtst. Highperformance fractional order terminal sliding mode.
Integral sliding mode based composite nonlinear feedback control. In this paper, the sliding surface is defined based on inc method. Research article sliding mode control design for a class. In the novel method, sliding mode variable structure and precision. The objectives of the paper are i to develop a new 4d conservative chaotic system with hidden chaotic orbits, ii to design a second order adaptive time varying sliding mode control for the synchronization between two identical proposed chaotic systems in the presence of matched disturbances and iii to compare the performances of the proposed controller with two available controllers. The chattering problem is tackled by including actuator. The sliding mode control smc design is discussed for a class of timevarying delay systems which is delayrangedependent and raterangedependent. Sliding mode control design for a class of siso systems. Sliding mode control using novel sliding surfaces b. A novel global sliding mode control based on exponential. Sliding mode control for a class of nonlinear systems with. The other is based on slidingmode control using some novel nonlinear sliding surfaces. Published in the proceedings of the asme dynamic systems and control division, asme dsc. Sliding mode control theory seeks to produce controllers to over some such mismatches.
The nonlinear sliding surface introduces a variable damping ratio. It is shown that the sliding mode design needs not to consider the. Simulation result figure shows where the red line is the desired positionattitude and the blue line is the simulated positionattitude. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. The robust control law is developed based on the sliding mode approach where a first order sliding surface is defined in terms of surge and a second order one in terms of lateral motion tracking. The other is based on sliding mode control using some novel nonlinear sliding surfaces. Sliding mode control using novel sliding surfaces researchgate.
Sliding mode control ppt final control theory servomechanism. Integral sliding mode based composite nonlinear feedback. However, the multivariable sliding mode control is not yet established in this application even though it has a lot of potential in dealing with complex and nonlinear systems such as aircraft. One design approach is based on the hinfinity control framework exploiting an effective combination of pd control, an extended matrix polytope and a robust stability analysis method with a statedependent coefficient form.
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. Sliding mode control for sloshfree motion using a nonlinear. Sliding mode control using novel sliding surfaces, volume 392, springer 2009. A continuous sliding mode control with moving sliding surface for nonlinear systems of arbitrary order is presented in this paper. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied.
The classical sliding mode control smc leads, generally, to the appearing of an undesirable chattering phenomenon2,3,9,10,14,15to solve this problem we propose an approach using the. Zlnober this paper presents sufficient conditions for the sliding mode control of a system with disturbance input. Sliding mode control design for stabilization of underactuated. Multivariable sliding mode control design for aircraft engines. In higher order sliding mode control, for example in the rth order sliding mode control, the purpose is to move the state along the switching surface. Fault tolerance of a reconfigurable tiltrotor quadcopter. Designing robust control by sliding mode control technique. A novel timevarying nonlinear sliding surface is employed. Research highlights a second order sliding mode controller is proposed to control uncertain 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. Pdf a slidingmode control law is presented and experimentally implemented for trajectory tracking of underactuated autonomous surface vessels.
Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. The main streamline of the study is the sliding surface design for the system. Sliding mode control of an uninterruptible power supply 88 disturbances e. The variable structure filter vsf is introduced to obtain the unmeasured states. Speed control of dc motor using sliding mode control approach. First, a new smooth and derivable nonlinear function with improved continuity and derivative is designed to replace the traditional nonderivable.
Example on sliding mode control file exchange matlab. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. In the proposed algorithm, the sliding mode surface is constructed by two layers of sliding mode surfaces, which. Sliding mode control based on novel nonlinear sliding surface. Adaptive sliding mode control with moving sliding surface. Request pdf sliding mode control using novel sliding surfaces afterasurveypaperbyutkininthelate1970s,slidingmodecontrolmeth ologies emerged as an. These include multiobjective sliding mode design, integral sliding mode control, composite nonlinear feedback and reaching phase elimination by the application of time. Second order adaptive time varying sliding mode control. Sliding mode control and observation ebook by yuri. The main idea is to set a soft dynamic boundary for the controlled variables around a reference point. Design and analysis of adaptive supertwisting sliding. The conditions of asymptotic stability are presented by linear matrix inequalities lmis.
Gandhi, member, ieee, abstracta new nonlinear switching surface is proposed for the design of a sliding mode controller for a class of mismatched. Pdf novel sliding mode control for memsbased resonators. We use sliding mode control for this nonlinear system in this paper. Sliding mode controller design sliding mode control is a special version of an ono control. Control design based on novel parabolic sliding surfaces. 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. Introduction sliding mode control is a well known method of robust trajectory. Page 1 of 10 abstract this paper looks at the robust trajectory control of spatial mechanical systems using sliding mode techniques. Aug 26, 2015 this paper is concerned with the control of underactuated systems with external disturbances.
The motivation of this controller is to introduce the lyapunov function vx. This paper proposes a residue theorem based soft sliding mode control strategy for a permanent magnet synchronous generator pmsg based wind power generation system wpgs, to achieve the maximum energy conversion and improved in the system dynamic performance. Bandyopadhyay et al sliding mode control using novel sliding surfaces, lncis 392, pp. Robust motion control of oscillatorybase manipulators h. The parameters of this function are dynamically and geometrically intuitive. 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. This text provides the reader with a grounding in sliding mode control. Sliding mode control using novel sliding surfaces springerlink. This study covers the sliding mode control design with adaptive sliding surfaces for a class of affine nonlinear systems, which can be described by. This paper is concerned with the control of underactuated systems with external disturbances. Kim, sliding mode control using novel sliding surfaces, vol. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed.
In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. 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. Exercises provided at the end of each chapter make this an ideal text for. Sliding mode control with optimal sliding surfaces for missile autopilot design. Sliding mode control with optimal sliding surfaces for. Results are demonstrated employing the method for several examples to show potential of the proposed technique. Sliding mode control using novel sliding surfaces lecture. A mathematical introduction to robotic manipulation book. Chatteringfree fullorder recursive sliding mode control for finitetime attitude.
A novel approach to design nonlinear sliding surfaces based on this generalised regular form is presented using global implicit function theory such that the. Nonsingular terminal sliding mode guidance with impact. Further, the nonlinear sliding surface coefficients are obtained by stability analysis. The main streamline of the study is the sliding surface design for such systems. Speed control of dc motor using sliding mode control approach prabhudev ghalimath 1, s. The choice of nonlinear sliding surface is to change the state matrix of sliding mode system, which can combine the advantages of different conventional linear sliding surfaces.
To improve dynamic quality of highspeed pmsm control system, a novel design method for velocity and current loops was proposed. The robustness of this proposed sliding mode control technique is shown when a faulty motor scenario is introduced. 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 uncertainty conditions. The schematic structure of the surfaces of hsmc is illustrated in figure 1.
Sliding mode control for electrohydrostatic actuator. May 23, 2012 sdre missile autopilot design using sliding mode control with moving sliding surfaces ifac proceedings volumes, vol. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. Derivation of the vsf gain based on the reaching law is presented in this paper. Index termssliding mode control, finite time controller. This paper presents an adaption of the fractional order terminal sliding mode control aftsmc strategy for dcdc buck converter. Chatteringfree fullorder recursive sliding mode control for finite. Sliding mode control with optimal sliding surfaces for missile.