For example, sliding mode control drives a sliding surface. The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. Lmibased adaptive fuzzy integral sliding mode control of. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi.
Utkin, 1977, 1978, 1983 that is designed to drive and then constrain the system to lie within a neighborhood of the switching function itkis, 1979. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of robust controllers for complex nonlinear. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. 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. Teaching, analyzing, designing and interactively simulating. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation. The sliding mode control technique is characterized by the following features. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of robust controllers for complex nonlinear dynamic systems operating under uncertainty. Pdf control of a dc motor using sensorless observer.
Embeddingbased sliding mode control for linear time. Sliding mode control utilizes a highspeed switching control law to drive the state trajectory staying on this sliding surface for all subsequence times such that the robust stability of the system is assured. The book is devoted to systems with discontinuous control. The disadvantage of this method is that the equivalent control signal is delayed by the e ect of the. Classical sliding mode are characterized by constraining the state evolution onto a surface of the state space by means of a switching control the 2nd order sliding mode is characterized by a n2q reduced order dynamics n n q n q t r f t r. The main arguments in favor of sliding mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters. The ideas did not appear outside of russia until the mid 1970s when a book by itkis and a survey paper by utkin 1 are published in english. In contrast with conventional sliding mode control, the system motion under integral sliding mode has a dimension equal to that of the state space. The continuous part has a particular structure which leads to the invariance conditions for the sliding motion and in the average sense. Sliding modes and their applications in variable structure systems.
Author of five books and more than 300 technical papers, he was awarded the lenin prize the highest scientific award in the former soviet union and was ford chair of electromechanical systems from 1994 to 2002 at the ohio state university. Sliding mode controller design sliding mode control is a special version of an ono control. Sliding mode control in electromechanical systems crc. In that time, sliding mode control smc has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electromechanical systems. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on.
The control law comprises a structure which provides smooth nite time stabilization. On outputbased sliding mode control design using minimax. Sliding mode control in electromechanical systems, 1999. Vadim utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Lmibased adaptive fuzzy integral sliding mode control of mismatched uncertain systems. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications.
Sliding mode control of electromechanical systems heide brandtst. Introduction to sliding mode control lecture by sarah k. The control law comprises a structure which provides smooth nite time stabilization of the origin for a nominal disturbancefree system formed from a chain of integrators, together. Variable structure control vsc with sliding mode control smc was. The chattering problem is tackled by including actuator. By means of sliding mode observers, the adaptation errors required information is extracted and injected to adaptive laws. Sliding mode control in electromechanical systems utkin pdf. The basic concepts, mathematics, and design aspects of variablestructure systems as well as those with sliding modes as a principle operation mode are treated. There are two reasons which can lead to chattering. Sliding modes and their applications in variable structure systems by vadim utkin. Sliding mode control in electromechanical systems request pdf. Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as normbounded nonlinearities and external disturbances. 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. This method had opened new research areas from purely theoretical domains to practical applications.
However, chattering is one problem, which limits the use of the sliding mode to control dc motors in industry. Sliding mode control in electromechanical systems, 1999, 338. The key idea is to apply strong control action when the system deviates from the desired behavior. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. The research in this area was initiated in the former soviet union about 40 years ago, and the sliding mode control methodology has subsequently received much more attention from the international control.
The concept of the sliding mode functional observers is an area that is untouched by previous research. Abstract sliding mode control provides insensitivity to parameter variations and disturbances. In this study, an observerbased sliding mode control method is proposed for position and speedfree control of a dc motor. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. 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. Pdf preliminaries of sliding mode control researchgate. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. One particular type of vcs system is the sliding mode control smc methodology utkin, 1992. Sliding mode existence and ideal sliding dynamics in order to analyze the closedloop behavior it is necessary to understand the dynamics in sliding modes. A discrete system is considered without disturbance, based on reaching law approach different sliding mode control law is developed and performance is analyzed.
Sliding mode control smc is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. Sliding mode control in electromechanical systems, second. In this thesis, a novel sliding mode control strategy for mechanical systems with electric. Times and again, this problem has been approached by mathematicians, physicists and engineers, each. The sliding mode control approach is recognised as an efficient tool to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertain conditions. Sliding mode control an overview sciencedirect topics. Sliding mode state observers have been the focus of research in the. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control. In 19751978 he was in charge of an international project between his institute and energoinvest, sarajevo, on the sliding mode control of induction motors. Adaptive output feedback second order sliding mode control. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Sliding modes and their applications in variable structure. Sliding mode control lecture 2 urduhindi introduction.
The term sliding mode control comes from the theory of variablestructure systems, specifically. Robustness, stability, and implementation issues giorgio bartolini. Sliding mode control of outbreaks of emerging infectious diseases article pdf available in bulletin of mathematical biology 7410. The main argu ments in favor of sliding mode control are order reduction. In ismc, the system trajectory always starts from the sliding surface. Publication date 19780101 topics sliding mode control, variable structure control collection folkscanomy. Sliding mode is the oldest robust control technique introduced more that 50 years ago see, for example, utkin 1977 and references therein. Sliding mode control design principles and applications to. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. 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. If the inline pdf is not rendering correctly, you can download the pdf file here.
Integral sliding mode control of small satellite attitude. Sliding mode control of dcdc boost converter author. Adaptive continuous higher order sliding mode control. Sliding mode control of lateral motion for four driving. Sliding mode control in electro mechanical systems. It can be used only when the control signal ut can switch at high frequency. Sliding mode control is used now in the speed control of electric drive systems. Discrete sliding mode control file exchange matlab central. Stephen yurkovich, xiaoqiu li, in the electrical engineering handbook, 2005. 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. Apply sliding mode theory to solve control problems interest in smc has grown rapidly since the first edition of this book was published. Sliding mode control in electromechanical systems utkin pdf email.
Sliding mode control edwards and spurgeon, 1998, utkin, 1992, zinober, 1994 is considered to be one of the main methods effective under uncertainty conditions. A modelfree smc mfsmc based flight controller would serve as a useful tool for the rapid deployment of new. Determines the behavior of the system in the sliding mode. Filippov approach 30, and the equivalent control method introduced by v.
This paper proposes an adaptive continuous higher order sliding mode control scheme. The adaptation process is based on the estimation of the equivalent control, which is obtained by ltering the control signal by a lowpass lter. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Sliding mode control implies that control actions are discontinuous state functions which may easily be implemented by conventional power converters with. 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 approach is based on keeping exactly a properly chosen constraint by means of highfrequency control switching, and is known as robust and very accurate. I sliding mode control design principles and applications to electric drives. Sliding mode control in electromechanical systems 2nd ed. Sliding mode control encyclopedia of life support systems. Sliding mode control with state derivative output feedback in.
In this paper, the robust control problem of general nonlinear multiinput multioutput mimo systems is proposed. These robustness properties make this discontinuous control strategy very attractive. Design is decoupled into two independent subproblems. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. Jan 22, 2016 in control system, 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. Utkin abstractthe paper deals with the basic concepts, mathemat ics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode.
Dcdc converter, boost converter, switched mode power supplies, sliding mode control. In the present, sliding mode control smc is a highly active area of research. Two algorithms based on the sliding mode control smc for nonlinear coupled multiinput multioutput mimo systems are proposed. The theory of smc has been applied to various control systems, since it has been. Utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Sliding modes in control and optimization communications and. Sliding modes in control and optimization springerlink. The unremitting interest to discontinuous control systems enhanced by their effective application to solution of problems most diverse in their physical nature and functional purpose is, in the authors opinion, a cogent argument in favour of the importance of this area of studies. Modelfree sliding mode control algorithms including.
Sliding mode control is a particular type of variable structure system vss itkis, 1979. The main theoretical advantage of sliding mode control is its insensitivity to the socalled. 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 contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. Variable structure systems with sliding modes ieee journals. Sliding mode control design principles and applications to electric drives vadim i. Shi proposed an improved sliding control method named integral sliding mode control ismc. Generally speaking, slidingmode control smc is a robust nonlinear control algorithm that employs discontinuous control to force system state trajectories to lie on some prescribed sliding surface utkin, 1992. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation. Pdf in this chapter, a brief introduction of the concept of sliding mode control and the evolution of discretetime sliding mode from the. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a.
Remark 4 since the gain is selected large enough and m is not a control parameter. He is best known for being one of the originators of sliding mode control and variable structure systems, which have become fundamental. Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999. Sarah k spurgeon, ucl, uk during gian course on advanced sliding mode control and estimation for real complex systems of the 21st century held at iit roorkee on 2427 october 2017. Two different methods to address this issue can be found in the literature. Moscow, russia, a theory of relaybased control was disclosed. Shi, sliding mode control in electromechanical systems, taylor and francis, london, 1999 theoretical design methods are presented in the context of applications for control of electric drives, alternators, vehicle motion, manipulators and mobile robots. In the reaching mode preceding the sliding mode, the invariance with respect to the disturbances and parametric uncertainties is not valid. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss design. The motivation of this controller is to introduce the lyapunov function vx. Interest in smc has grown rapidly since the first edition of this book was published. Apply sliding mode theory to solve control problems.
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