One particular approach to robustcontrol controller design is the socalled. Sliding mode control method with estimation of control input error thesis. Example on sliding mode control file exchange matlab. 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. It is shown that the main advantages of sliding mode control are order reduction.
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 the reaching mode, the control dynamics depend on system parameters. Based on your location, we recommend that you select. The delta sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode control. For pdf files, the url refers to the corresponding pdf file for example. Choose a web site to get translated content where available and see local events and offers.
The motivation of this controller is to introduce the lyapunov function vx. This paper presents the sliding mode controller smc for applied to the dcdc buck converter operates in continuous conduction mode ccm. A static and a dynamic slidingmode controllers are designed using a simplified model of the system. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. Sliding mode control in electromechanical systems utkin pdf email. The key idea is to apply strong control action when the system deviates from the desired behavior. Designing robust control by sliding mode control technique.
Finitetime sliding mode control strategies and their. Sliding mode control in electromechanical systems pdf. In two dimensional sliding mode, the system motion is 1 of order which is by two less than the order of the original system. 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. Sliding mode control in engineering crc press book.
The following phd theses have been completed at eth within the research group. 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 in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. 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 application of sliding mode observers to fault detection and isolation for multilevel converters shuai shao, beng thesis submitted to the university of nottingham. Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999. Sliding mode control theory seeks to produce controllers to over some such mismatches. Many existingmethods are available for the smc design for secondorder systems.
This paper investigates the sliding mode control of the ball on a beam system. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Agamemnon crassidis department of mechanical engineering kate gleason college of engineering. There have been many contributions in the smc field in the last decade. Smc controller example file exchange matlab central. This thesis presents the design of an adaptive pid sliding mode control asmc for a turbofan engine. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. Throughput study with various modes of interfacing.
A thesis submitted in partial fulfilment of the requirements for the degree of. The statefeedback control law is not a continuous function of time. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. As in matlab i had created a model containing two blocks of plant and controller and wrote their equations accordingly, but i dont have any idea how to implement it in labview. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem. Sliding mode control of an uninterruptible power supply 88 disturbances e. 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. Sliding mode controller design sliding mode control is a special version of an ono control. Current programming and sliding mode control are used to provide regulation and obtain desired dynamic responses. Out of many robust nonlinear control strategies, a further development in sliding mode control smc strategy is considered in this thesis because of its simplicity and robustness. Downloadable copies are available from the eth library via the research.
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. A modelfree control algorithm derived using the sliding model control method by arielle mizov a thesis submitted in partial fulfilment of the requirements for the degree of master of science in mechanical engineering supervised by associate professor dr. Edwards and spurgeon, 1998 is well known for its robustness to modeling errors, insensitivity to parameter variations and disturbances, which are expected in practice 4, 6. I suggest you to see links and attached files in subject. 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. Modelfree sliding mode control algorithms including. Pdf this paper describes the synthesis and application of controller based on sliding mode theory to a quadrotor.
Nss control eliminates the effects presented from variations in components. Averaging and control of nonlinear systems with application to biomimetic locomotion thesis by patricio antonio vela in partial ful. 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. Abstract sliding mode control is a robust nonlinear control algorithm that has been used to.
A thesis submitted in partial fulfilment of the requirements for the. Realtime model predictive control research collection eth zurich. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discretetime systems with relatively low switching frequencies. Hi everyone, i have been trying to implement sliding mode control in labview, and i think the best option is to use mtahscript. More recently, sliding mode control has been developed for the flyback converter 67. This paper presents basic sliding mode control theory, so i will use the 2ndordered siso canonical. The controller is designed for using the voltage mode control vmc of the buck converter. For illustration, embodiments employ fast switching converters. Moreover, some important control problems involving uncertain mechanical. What should i put in the pdf of my provisional thesis.
Implementation of natural switching surface control for a. However, the complex dynamical behaviours due to discretization in continuoustime smc systems have not yet been fully explored. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. Sliding mode control in electromechanical systems utkin pdf. Design and implementation of sliding mode controller for.
The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. Sliding mode control of power converters caltechthesis. In the early sixties, discontinuous control at least in its simplest form of bangbang control was a subject of study for mechanics and control engineers. The theory of variable structure systems vss, and sliding mode control form a mutually complementary analysis and design tools for the control of switched mode power converters. Even though the parameters may change with time and load, still the system.
This has led to an intense interest in the development of robust control methods which seek to solve this problem. Effective direction and control of higher education institutions. 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. While these control methods may be considered adequate, the natural switching surface nss sliding mode control method detailed in this thesis presents a more robust controller. The application of sliding mode control is presented for dctodc converters and electrical motor drives in this thesis. The chattering problem is tackled by including actuator. This thesis aims to analyze the zsem governance model through the contextual lenses of new. It is the property of the smc that made it useful for many. Recent developments in sliding mode control theory and. The system is a second order dynamic system, consisting of a mass and a damper. Some issues in the sliding mode control of rigid robotic manipulators sanjay rao edith cowan university follow this and additional works at. For both formats the functionality available will depend on how you access the ebook via bookshelf online in your browser or via the bookshelf app on your pc or mobile device. Sliding mode control of induction motor using simulation. Hirschorn abstractthe purpose of this paper is to present a framework for the design of slidingmode based controllers for multiinput af.
The main streamline of the study is the sliding surface design for the system. Sliding mode control in electromechanical systems, 1999. A modelfree control system based on the sliding mode. This text provides the reader with a grounding in sliding mode control. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control of discretetime weakly coupled systemsabstract of the thesis sliding mode control of discretetime weakly coupled systems. Implications of fliesss differential algebraic ap proach for the study of systems dynamics are explored in the context of. Problems in analysis, control, and design of switching. The common drawback is the complicated design of a specific sliding curve, and it may lead to heavy computation burden or. Designing robust control by sliding mode control technique 9 take the sliding variable to zero in finite time by the means of control u. This monograph presents a novel method of sliding mode control for switchregulated nonlinear systems. Sliding mode control is fundamentally a consequence of discontinuous control.
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