What are the good resources to learn about sliding mode control. Sliding mode control in electromechanical systems utkin pdf email. Written by three of the most respected experts in the field, including one of its originators, this updated edition of sliding mode control in electromechanical systems reflects developments in the field over the past decade. For example, sliding mode control drives a sliding surface, where. The book is devoted to systems with discontinuous control. Sliding mode controller design sliding mode control is a special version of an ono control. 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.
Moreover, some important control problems involving uncertain mechanical. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. Recent developments in sliding mode control theory and. Consider a nonlinear single input dynamic system of the form. The common drawback is the complicated design of a specific sliding curve, and it may lead to heavy computation burden or. Sliding mode control encyclopedia of life support systems. 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 modes an efficient tool to control high order dynamic plants operating under uncertainty conditions. Introduction sliding mode control is a robust nonlinear feedback control technique with the drawback of chattering. 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 controllers and sliding mode control for multi. The motivation of this controller is to introduce the lyapunov function vx. Sliding modes in control and optimization by vadim i. Performance comparison of sliding mode control and. Nov 09, 2015 sliding mode control and its application 1. 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. Pdf the first sliding mode control application may be found in the papers back in the 1930s in russia. This job can be achieved by applying lyapunov function techniques to the e dynamics using equations 1 and 2.
The statefeedback control law is not a continuous function of time. Cooperative extremum seeking control via sliding mode for. Designing robust control by sliding mode control technique. Conventional slidingmode control utkin et al, 1999 can not be formulated. Adaptive higher order sliding mode control for nonlinear uncertain. Since then, and especially during the late 80s, the control research community has shown significant interest in sliding mode control. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by vladim utkin. Moscow, russia, a theory of relaybased control was disclosed.
The theory of variable structure system and sliding mode has been developed decades ago in the soviet union. Unesco eolss sample chapters control systems, robotics and automation vol. Sliding mode compensation, estimation and optimization. Example on sliding mode control file exchange matlab. Zlnober this paper presents sufficient conditions for the sliding mode control of a system with disturbance input. A mathematical description of motion in a sliding mode is considered for systems with. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. Even though the parameters may change with time and load, still the system. Pdf sliding mode control on electromechanical systems. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. The paper deals with c code implementation of sliding mode control into simulink environment. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. Apply sliding mode theory to solve control problems interest in.
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. A modelfree control algorithm derived using the sliding. 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. Sliding mode controllers and sliding mode control for multiinput nonlinear uncertain systems elisabetta punta cnrieiit, italy. The system is a second order dynamic system, consisting of a mass and a damper.
Download limit exceeded you have exceeded your daily download allowance. Modeling and robust control algorithms for a linear belt driven. Error reduction of sliding mode control using sigmoidtype. Sliding mode control implies that control actions are discontinuous state functions which may easily be implemented by conventional power converters with. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied.
Sliding modes in control and optimization springerlink. Utkin, variable structure systems with sliding modes. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by. Sliding mode control for synchronous electric drives. Publication date 19780101 topics sliding mode control, variable structure control collection folkscanomy. Sliding mode control of outbreaks of emerging infectious. For example, slidingmode control drives a sliding surface, where. Conventional sliding mode control utkin et al, 1999 can not be formulated. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications.
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 in electro mechanical systems. Sliding mode compensation, estimation and optimization methods in automotive control problems. Example on sliding mode control file exchange matlab central. Abstract this paper presents a guide to sliding mode control for practicing control engineers.
Sliding mode control and fuzzy sliding mode control for dc. 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. Osaka university june 7, 2017 sliding mode controllers and sliding mode control for multiinput nonlinear uncertain systems elisabetta punta cnrieiit, italy. However, its implementation in the presence of unmodeled dynamics leads to highfrequency oscillations termed chattering. Stateflow sliding mode controller advanced file exchange. In practical applications of sliding mode control, engineers may experience undesirable phenomenon of oscillations having finite frequency and amplitude, which is known as chattering.
Recently higher order as well as model reference sliding mode controller has been introduced to eliminate control signal chattering problem and achieve optimal tuning of the sliding. Equivalent control utkin, 1972 problem formulation 11 osaka university, june 7, 2017 uncertain systems. Slidingmode control design generally involves two main steps. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss design. Sliding mode control in electromechanical systems electrical and. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on.
Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. Sliding mode control of an uninterruptible power supply 88 disturbances e. Sliding mode control provides insensitivity to parameter variations and disturbances. 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. This text provides the reader with a grounding in sliding mode control. I would like to start learning about sliding mode control.
It can be used only when the control signal ut can switch at high frequency. Sliding modes and their applications in variable structure. Sliding mode control in electromechanical systems automation and control engineering. Choose a web site to get translated content where available and see local events and offers. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule.
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. These robustness properties make this discontinuous control strategy very attractive. Sliding mode control in electromechanical systems taylor. Designing robust control by sliding mode control technique 9 take the sliding variable to zero in finite time by the means of control u. An overview 43 system which is purely an electronically controlled brake system without hydraulics 9. Sliding mode controllers and sliding mode control for. Sliding mode control in electromechanical systems crc. Sliding mode control in electromechanical systems utkin pdf. Based on your location, we recommend that you select. One approach is to approximate the signum function in the control signal by a high gain saturation or sigmoid func tion and there by reducing the chattering utkin. Sliding modes, automotive control, disturbancestate estimation, equivalent control. If the inline pdf is not rendering correctly, you can download the pdf file here.
The key idea is to apply strong control action when the system deviates from the desired behavior. The most common method for solving the chattering problem is to introduce a boundary layer bl around. The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. Nonsingular terminal sliding mode control of rigid. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. A new terminal sliding mode manifold is first proposed for the secondorder system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. Sliding mode control and fuzzy sliding mode control for dcdc. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation.
Digital simulation results of abs with conventional smc, where hydraulic brake dynamics is neglected during the design, is shown in 10. A modelfree control algorithm derived using the sliding mode control method agamemnon crassidis, arielle mizov rochester institute of technology 76 lomb memorial drive, rochester, new york 14623, u. Boundary layer, fuzzy controller, modified sigmoid function, sliding mode control. Sliding mode control of electromechanical systems heide brandtst. Smc controller example file exchange matlab central. Sliding mode control in electromechanical systems 2nd ed. Sliding mode control design generally involves two main steps. 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 theory seeks to produce controllers to over some such mismatches. 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. Model solutions ultimately approach either one of two endemic states for two structures or the sliding equilibrium on the switching surface, depending on the threshold.
This paper presents a global nonsingular terminal sliding mode controller for rigid manipulators. 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. Utkin, 9783642843815, available at book depository with free delivery worldwide. Review of sliding mode control of robotic manipulator. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss for the general case 1 sliding mode may exist in the intersection of all discontinuity.