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. Index termssliding mode control, finite time controller. To improve dynamic quality of highspeed pmsm control system, a novel design method for velocity and current loops was proposed. 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. Derivation of the vsf gain based on the reaching law is presented in this paper. Kim, sliding mode control using novel sliding surfaces, vol. 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. We use sliding mode control for this nonlinear system in this paper. Research article sliding mode control design for a class. Sliding mode control using novel sliding surfaces researchgate.
Further, the nonlinear sliding surface coefficients are obtained by stability analysis. Adaptive sliding mode control with moving sliding surface. Pdf novel sliding mode control for memsbased resonators. Example on sliding mode control file exchange matlab central. Sliding mode control with optimal sliding surfaces for missile autopilot design. It is shown that the sliding mode design needs not to consider the. Sliding mode control theory and applications pdf ontario. 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 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. A novel timevarying nonlinear sliding surface is employed. This study covers the sliding mode control design with adaptive sliding surfaces for a class of affine nonlinear systems, which can be described by. Simulation result figure shows where the red line is the desired positionattitude and the blue line is the simulated positionattitude. Sliding mode control of an uninterruptible power supply 88 disturbances e. Highperformance fractional order terminal sliding mode.
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. Sliding mode control using novel sliding surfaces lecture. 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. Nonsingular terminal sliding mode guidance with impact angle.
Nonsingular terminal sliding mode guidance with impact. This text provides the reader with a grounding in sliding mode control. Published in the proceedings of the asme dynamic systems and control division, asme dsc. Sliding mode control ppt final control theory servomechanism. The schematic structure of the surfaces of hsmc is illustrated in figure 1. In this paper, the sliding surface is defined based on inc method. Sliding mode control using novel sliding surfaces, springer. A novel approach to design nonlinear sliding surfaces based on this generalised regular form is presented using global implicit function theory such that the. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Second order adaptive time varying sliding mode control. 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. Two distinctions of the proposed method from reported methods are. Integral sliding mode based composite nonlinear feedback. Pdf speed control of pmsm by sliding mode control and pi.
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. Introduction sliding mode control is a well known method of robust trajectory. Bandyopadhyay et al sliding mode control using novel sliding surfaces, lncis 392, pp. Integral sliding mode based composite nonlinear feedback control. Speed control of dc motor using sliding mode control approach prabhudev ghalimath 1, s. 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.
Request pdf sliding mode control using novel sliding surfaces afterasurveypaperbyutkininthelate1970s,slidingmodecontrolmeth ologies emerged as an. Designing robust control by sliding mode control technique. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Simulation results are given for a spacecraft tracking a complex desired trajectory. Sliding mode control based on novel nonlinear sliding surface. A new method combining trajectory planning, tracking and coordinated control for unmanned surface vessels is presented based on nonlinear sliding mode control. Robust adaptive sliding mode control using fuzzy modelling. The main streamline of the study is the sliding surface design for the system. If youre looking for a free download links of sliding mode control. Sliding mode control design for a class of siso systems. The motivation of this controller is to introduce the lyapunov function vx. Sliding mode control for electrohydrostatic actuator.
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. 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. The chattering problem is tackled by including actuator. Sliding mode control using novel sliding surfaces b. The variable structure filter vsf is introduced to obtain the unmeasured states. Chatteringfree fullorder recursive sliding mode control for finitetime attitude. Research article sliding mode control design for a class of. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Multivariable sliding mode control design for aircraft engines sirirat sangwian abstract many control theories are used in controlling aircraft engines. Page 1 of 10 abstract this paper looks at the robust trajectory control of spatial mechanical systems using sliding mode techniques. A novel global sliding mode control based on exponential. Sliding mode control for nonlinear systems with adaptive.
The robustness of this proposed sliding mode control technique is shown when a faulty motor scenario is introduced. 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. Lecture notes in control and information sciences, vol 392. Robust motion control of oscillatorybase manipulators h.
Results are demonstrated employing the method for several examples to show potential of the proposed technique. Part of the lecture notes in control and information sciences book series lncis. Sliding mode control encyclopedia of life support systems. Presents an overview over sliding mode control using novel sliding surfaces. A continuous sliding mode control with moving sliding surface for nonlinear systems of arbitrary order is presented in this paper. The sliding mode manifold and the corresponding lyapunov function are obtained if the iterative sos optimization program has a solution. Sliding mode control of electromechanical systems heide brandtst. Design is decoupled into two independent subproblems. The conditions of asymptotic stability are presented by linear matrix inequalities lmis. 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. 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.
May 23, 2012 sdre missile autopilot design using sliding mode control with moving sliding surfaces ifac proceedings volumes, vol. Nonlinear sliding surface based second order sliding mode. 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. Sliding mode controller design sliding mode control is a special version of an ono control. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Using the control inputs derived from these sliding surfaces, the state variables converge to their desired values in finitetime. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you.
Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. Sliding mode control is a particular class of variable structure control which was introduced by emelyanov and his colleagues. This paper is concerned with the control of underactuated systems with external disturbances. 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. In the novel method, sliding mode variable structure and precision. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied. In the proposed algorithm, the sliding mode surface is constructed by two layers of sliding mode surfaces, which.
The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain singleinputsingleoutput systems is studied. Sliding mode control theory seeks to produce controllers to over some such mismatches. Sliding mode observers historical background and basic. Exercises provided at the end of each chapter make this an ideal text for. The nonlinear sliding surface introduces a variable damping ratio. This paper proposes a novel adaptive supertwisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. Sliding mode control based on novel nonlinear sliding. Fault tolerance of a reconfigurable tiltrotor quadcopter.
Design and analysis of adaptive supertwisting sliding mode. Zlnober this paper presents sufficient conditions for the sliding mode control of a system with disturbance input. Sliding mode control using novel sliding surfaces springerlink. First, a new smooth and derivable nonlinear function with improved continuity and derivative is designed to replace the traditional nonderivable. Fast rise, low overshoot and small settling time are the derived benefits. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. 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. Sliding mode control in electro mechanical systems. The other is based on slidingmode control using some novel nonlinear sliding surfaces.
Sliding mode control with optimal sliding surfaces for missile. The proposed controller is able to eliminate chattering in the control input. A mathematical introduction to robotic manipulation book. Sliding mode control for sloshfree motion using a nonlinear sliding surface shailaja kurode, member, ieee, sarah spurgeon, senior member, ieee, b. Using the global sliding mode control gsmc technique, a new robust controller is presented to improve the robustness and stability of the system. Design and analysis of adaptive supertwisting sliding.
Sliding mode control with optimal sliding surfaces for. Sliding mode control for sloshfree motion using a nonlinear. Chatteringfree fullorder recursive sliding mode control for finite. Maximum power point tracking using sliding mode control. The following strategy aims to design a novel nonlinear sliding surface function, with a double closedloop structure of voltage and current. Pdf a slidingmode control law is presented and experimentally implemented for trajectory tracking of underactuated autonomous surface vessels. A sliding mode control with nonlinear fractional order pid. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed. The key idea is to apply strong control action when the system deviates from the desired behavior. This paper presents an adaption of the fractional order terminal sliding mode control aftsmc strategy for dcdc buck converter. 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.
Control design based on novel parabolic sliding surfaces. Sliding mode control using novel sliding surfaces, volume 392, springer 2009. The statefeedback control law is not a continuous function of time. 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. Pdf slidingmode tracking control of surface vessels. Gandhi, member, ieee, abstracta new nonlinear switching surface is proposed for the design of a sliding mode controller for a class of mismatched.
Speed control of dc motor using sliding mode control approach. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. These include multiobjective sliding mode design, integral sliding mode control, composite nonlinear feedback and reaching phase elimination by the application of time. The robustness of this proposed sliding mode control technique is shown when a. 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.
The parameters of this function are dynamically and geometrically intuitive. Sliding mode control ppt final free download as powerpoint presentation. The other is based on sliding mode control using some novel nonlinear sliding surfaces. Sliding mode control design for stabilization of underactuated. The main streamline of the study is the sliding surface design for such systems. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. 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. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. Research highlights a second order sliding mode controller is proposed to control uncertain systems. This chapter presents a brief introduction to the basic notions of continuous and discretetime sliding mode control which will be used in subsequent chapters. Residue theorem based soft sliding mode control for wind. Request pdf on sep 1, 2009, bijnan bandyopadhyay and others published sliding mode control using novel sliding surfaces find, read and cite all the. Example on sliding mode control file exchange matlab. 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.
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