It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Pdf sliding mode control on electromechanical systems. But this type of control was often criticized because of the chattering problem caused by the discontinuous 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. This has led to intense interest in the development of the socalled robust control methods which are supposed to solve this problem. In particular, compared with four kinds of sliding mode control smc, the proposed. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. Performance comparison of sliding mode control and. 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. One nonlinear approach to robust controller design which emerged during this period is the variable. Equivalent control utkin, 1972 problem formulation 11 osaka university, june 7, 2017 uncertain systems. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have become important topics.
In ismc, the system trajectory always starts from the sliding surface. Then, design controller for dc motor after that the comparison between pid and fuzzy is made on the real model of the dc motor. Simple homogeneous slidingmode controller, automatica, 675. Dynamic sliding mode control based on fractional calculus. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. They provide inherent order reduction, direct incorporation of robustness against system uncertainties and. 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. Multivariable sliding mode control design for aircraft engines sirirat sangwian abstract many control theories are used in controlling aircraft engines. Sliding mode control in electromechanical systems utkin pdf email. Vadim utkin is one of the originators of the concepts of variable structure systems and 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 in electromechanical systems automation and control engineering. 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. Sliding mode control of an uninterruptible power supply 88 disturbances e.
When i learned about sliding mode control about 2000 chattering high frequency switching was a topic although i cannot recall the correct bibliographical data of that utkinpaper. Sliding mode control of electromechanical systems heide brandtst. I would like to start learning about sliding mode control. 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. However, its implementation in the presence of unmodeled dynamics leads to highfrequency oscillations termed chattering. Young et al control engineer s guide to sliding mode control 329 which, according to control engineering practice, are often neglected in the openloop model used for control design if the associated poles are well damped, and outside the desired bandwidth of the feedback control system. What are the good resources to learn about sliding mode control. Cooperative extremum seeking control via sliding mode for. Nonlinear integral sliding mode control for a second order. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the. The sliding mode control technique is characterized by the following features. 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. A modelfree control algorithm derived using the sliding. On the sliding mode control of nonlinear systems sciencedirect.
Firstly, the paper introduces the principle of sliding mode control method. Designing robust control by sliding mode control technique 9 take the sliding variable to zero in finite time by the means of control u. A mathematical description of motion in a sliding mode is considered for systems with. 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. O 14 the principle advantage of the reduced order based method is that the angle acceleration xe2 is not needed for designing slidin g mode control carlo et al. Conventional slidingmode control utkin et al, 1999 can not be formulated. Nov 09, 2015 sliding mode control and its application 1.
Sliding mode control in electromechanical systems 2nd ed. Sliding mode controllers and sliding mode control for multiinput nonlinear uncertain systems elisabetta punta cnrieiit, italy. Publication date 19780101 topics sliding mode control, variable structure control collection folkscanomy. A nonlinear integral slidingmode control nismc scheme is proposed for second order nonlinear systems. Sliding mode control in electromechanical systems crc. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by. Sliding mode compensation, estimation and optimization. Sliding mode control theory seeks to produce controllers to over some such mismatches.
Sliding mode controller design sliding mode control is a special version of an ono control. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. The integral sliding mode control method requires that the considered system is affine a nonlinear system with righthand side as linear function of the control input u utkin et al. Apply sliding mode theory to solve control problems interest in. The main arguments in favor of slidingmode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters. Sliding mode control provides insensitivity to parameter variations and 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. The objective is also accomplished to enlarge the inner bound of region of attraction for closedloop dynamics. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. This paper deals with the sliding mode control adjustment of a speed control for dc motor. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss design. Sliding mode control in electromechanical second edition vadim utkin ohio state university columbus, ohio, u. Higherorder sliding mode control, finite time stability, homogeneity. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia.
Designing robust control by sliding mode control technique. The proposed approach is based on sliding mode control with estimation. Novel switching function and approaching condition based on the derivative of sliding surface are introduced. The new control scheme is characterized by a nonlinear integral sliding manifold which inherits the desired properties of the integral sliding manifold, such as robustness to system external disturbance. Digital simulation results of abs with conventional smc, where hydraulic brake dynamics is neglected during the design, is shown in 10. Slidingmode control design generally involves two main steps. Starting from a general case of sliding modes in dynamical systems with discontinuous righthand side, classic approaches to sliding mode control systems are considered and some basic results about the control of uncertain systems are given. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. O 14 the principle advantage of the reduced order based method is that the angle acceleration xe2 is not needed for designing slidin g. The paper presents a brief survey on variable structure control systems with sliding modes. Read download sliding mode control pdf pdf download. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. Pdf the first sliding mode control application may be found in the papers back in the 1930s in russia. The control algorithms and data processing used in variable structure systems are analyzed.
The motivation of this controller is to introduce the lyapunov function vx. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Shi proposed an improved sliding control method named integral sliding mode control ismc. For example, slidingmode control drives a sliding surface, where. Sliding mode control in electromechanical systems pdf. Sliding mode control is fundamentally a consequence of discontinuous control. 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 implies that control actions are discontinuous state functions which may easily be. An overview 43 system which is purely an electronically controlled brake system without hydraulics 9. Abstract sliding mode control provides insensitivity to parameter variations and disturbances. Sliding modes in control and optimization springerlink. It can be used only when the control signal ut can switch at high frequency. Chatteringfree sliding mode control with unmodeled dynamics.
Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. Sliding modes and their applications in variable structure. This paper investigates the novel sliding mode control design with state derivative output feedback in nontraditional reciprocal state space rss form. Sliding mode control in electromechanical systems vadim. The book is devoted to systems with discontinuous control. Utkin, 9783642843815, available at book depository with free delivery worldwide. Download limit exceeded you have exceeded your daily download allowance. Sliding modes in control and optimization by vadim i. Chatteringfree sliding mode control with unmodeled dynamics don krupp guidance and control division marshall space flight center msfc, alabama 35812 and yuri b. For example, sliding mode control drives a sliding surface, where.
Sliding mode compensation, estimation and optimization methods in automotive control problems. Utkin, variable structure systems with sliding modes, ieee transactions. Sliding mode control for industrial controllers khalifa alhosani 1, vadim utkin 2 and andrey malinin 3 1,2 the ohio state university, 3ikor usa 1. The sliding mode control law consists of a continuous com ponent which is. Sliding mode control with state derivative output feedback. A modelfree control algorithm derived using the sliding mode. Multivariable sliding mode control design for aircraft engines. The control signal is sum of the equivalent signal and switching signal. 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 of dc drives 171 u usignw 0 e and the existence condition for the sliding mode w e 0 will be 00 l e tt r jrw u ww k k w.
The focus of much of the research in the area of control systems theory during the seventies and eighties addressed the issue of robustness i. 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. The key idea is to apply strong control action when the system deviates from the desired behavior. Sliding mode control and fuzzy sliding mode control for dc. 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. Robustness, stability, and implementation issues giorgio bartolini. Robust hierarchical sliding mode control with statedependent. 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 has for many years been recognized as one of the key approaches for the systematic design of. Implications of fliesss differential algebraic ap proach for the study of systems dynamics are explored in the context of.
Journal on sciences and techniques of automatic control. Introduction this chapter presents sliding mode approach for controlling dcdc power converters implementing proportional inte gral derivative pid controlle rs commonly used in industry. The theory of sliding mode control has been developed firstly in the soviet union in early 1950s 18. The theory of variable structure system and sliding mode has been developed decades ago in the soviet union. Sliding modes and their applications in variable structure systems. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. Adaptive switching gain for a discretetime sliding mode controller. Conventional sliding mode control utkin et al, 1999 can not be formulated. Sliding mode control design principles and applications to electric drives.
A high order sliding mode control with pid sliding surface arxiv. Sliding mode control in electromechanical systems taylor. 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. Shtessel department of electrical and computer engineering university of alabama in huntsville huntsville, alabama 35899 abstract sliding mode control systems are valued for their robust. The statefeedback control law is not a continuous function of time. It is shown that the main advantages of sliding mode control are order reduction. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. 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. Sliding mode controllers and sliding mode control for. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs.
Sliding mode control in electromechanical systems utkin pdf. Sliding mode control, pid controller, chattering phenomenon, nonlinear system. One particular approach to robust controller design is the socalled sliding mode control technique. Sliding modebased robust control for piezoelectric. The method is proposed to design a control that guarantees both asymptotic and. Integral sliding mode control of small satellite attitude. This text provides the reader with a grounding in sliding mode control. Sliding mode control how is sliding mode control abbreviated.
In contrast with conventional sliding mode control, the system motion under integral sliding mode has a dimension equal to that of the state space. 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. This job can be achieved by applying lyapunov function techniques to the e dynamics using equations 1 and 2. Dynamic sliding mode control based on fractional calculus subject to uncertain delay based chaotic pneumatic robot sara gholipour p. These robustness properties make this discontinuous control strategy very attractive. 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. Sliding mode control in electro mechanical systems.
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