Mar 24, 2018 all these lectures are based on our text book sliding mode control and observation by yuri et. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. 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.
On sliding mode observers for systems with unknown inputs. Sliding mode control and observation control engineering. 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 smo is used to estimate rotor speed and rotor position using terminal voltages and currents of the bldc motor. Download sliding mode control and observation control engineering ebook free in pdf and epub format. On sliding mode observers for systems with unknown inputs thierry floquet, chris edwards, sarah spurgeon to cite this version. The stochastic stability of the closedloop system can be guaranteed.
The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. The system is a second order dynamic system, consisting of a mass and a damper. Observerbased adaptive sliding mode control for nonlinear. Jun 12, 20 sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers in. Sliding mode control thus can be broadly divided into two phases, the reaching phase and the sliding phase. A new sliding mode speed observer of electric motor drive. Jkd power and energy solutions view profile 16 files.
The main streamline of the study is the sliding surface design for the system. Sliding mode state observation for nonlinear systems. Sliding mode control lecture 02 by yasir amir khan youtube. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. The motivation of this controller is to introduce the lyapunov function vx. Read sliding mode control and observation control engineering online, read in mobile or kindle. Sliding mode control in the presence of delay 281 design of controllers is not obvious, mainly because applying the existin g necessary and sufficient stability condition very trickys is. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Observerbased sliding mode control for stabilization of a. The present volume addresses a range of sliding mode control issues, including. Exercises provided at the end of each chapter make this an ideal text. The sliding mode control technique is characterized by the following features.
One particular approach to robust controller design is the socalled sliding mode control technique. The key idea is to apply strong control action when the system deviates from the desired behavior. Firstly, an observer is constructed to estimate the system state. Apr 18, 2020 the matlab simulation for sliding mode control is demonstrated by jkd power and energy solutions. In the reaching phase the trajectory reaches the sliding mode and in the sliding phase the trajectory stays on the sliding mode for all further time. To ensure that the trajectory reaches the sliding mode the reaching condition.
This has led to intense interest in the development of the socalled robust control methods which are supposed to solve this problem. A new sliding mode speed observer of electric motor drive based on fuzzylogic 222 with. In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor pmsm in speed control, sliding mode control with extended state observer is adopted in this paper. Shtessel department of electrical and computer engineering university of alabama in huntsville huntsville, al, usa l. Sliding mode state observation for nonlinear systems ali j. Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higherorder sliding mode control and observation algorithms and their applications. International journal of adaptive control and signal processing, wiley, 2007, 21 89, pp. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Sliding mode observers historical background and basic. Consider the nonlinear system and the sliding surface s in. It can be used only when the control signal ut can switch at high frequency. The matlab simulation for sliding mode control is demonstrated by jkd power and energy solutions.
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. Exercises provided at the end of each chapter make this an ideal text for. Sliding model observer based permanent magnet synchronous motor. Example on sliding mode control file exchange matlab central. Secondly, we design an integral sliding mode surface and observerbased adaptive sliding mode controller such that the mjss are insensitive to all admissible uncertainties and satisfy the reaching condition. In this paper, the vibration control of a flexible beam is investigated by using sliding mode control with observer and experimental modal test method, and taking into. Exercises provided at the end of each chapter make this an ideal text for an advanced coursetaught in control theory.
These robustness properties make this discontinuous control strategy very attractive. Extended state observerbased sliding mode control with new. First by utilizing lyapunov stability theory and a linear matrix inequality technique, an observer based on delayed output feedback is constructed. 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. Zinober department of applied mathematics, the university of sheffield, sheffield s10 2tn, uk. In this section by using the proposed disturbance observer in theorem 10 and the sliding surface stated in lemma 6, a cntsmc for system is proposed. Design is decoupled into two independent subproblems. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Vibration control of smart structure using sliding mode. Sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers in. 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. Jun 23, 2010 permanent magnet synchronous motor was modeled with the help of vector control technique and it was also made sensorless based on sliding model observer smo. 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. Abstract the present paper proposes a control scheme comprising of a new sliding mode controller smc with sliding mode observer smo for improved performance of a brushless dc bldc motor.
The developed control strategy integrates the sliding mode control strategy and kalman filter technique. First, an exponential functionbased sliding mode reaching law esmrl is developed. Pdf sliding mode control and observation shtessel 2014. Nov 09, 2015 sliding mode control and its application 1. All these lectures are based on our text book sliding mode control and observation by yuri et.
Sliding mode controller design sliding mode control is a special version of an ono control. This paper considers the sliding mode control problem for a kind of dynamic delay system. Sliding mode control and observation shtessel 2014. Continuous nonsingular terminal sliding mode control based on. Sliding mode control and observation yuri shtessel. The combination of delay phenomenon with relay actuators makes the situation much more complex. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. Sliding mode observer and controller for performance. Sliding mode control and observation ebook by yuri shtessel. Then, an integral sliding surface is presented to realize the sliding mode control for the system with the more available stability condition. Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer.
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