The design of sliding mode control law consists of the construction of a suitable sliding surface so that the dynamics of the system confined to the sliding manifold. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a. The paper deals with c code implementation of sliding mode control into simulink environment. Also the describing function is used to evaluate the limit cycle generated by the feedback of the actual. Field oriented induction servo motor, sliding mode control system, adaptive sliding mode control system. It is shown that the main advantages of sliding mode control are order reduction, decoupling design procedures, disturbance rejection, insensitivity to parameter variations, simple implementation by means of conventional power converters. 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 encyclopedia of life support systems. Sliding modes, variable structure systems, tracking, robust control, inverse models, zeros. This paper presents the sliding mode controller design to regulate the speed control of the directcurrentdc motor. Sliding mode controller design sliding mode control is a special version of an ono control. 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. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. For example, the gains in each feedback path switch between two values according to a rule that depends on the value of the state at each instant.
Marchand references outline introduction linearnonlinear the x4 example linear approaches antiwindup linearization gain scheduling stability nonlinear approaches clf sliding mode geometric control recursive techniques x4 stabilization observers control of nonlinear systems nicolas marchand cnrs associate researcher nicolas. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. The second step is to determine a control law such that the system will reach and stay on the sliding surface. The motivation of this controller is to introduce the lyapunov function vx.
Sliding mode control evolved from pioneering work in the 1960s in the former. Click download or read online button to get sliding mode control theory and applications book now. Techniques and implementation is perhaps the first indepth account of how sliding mode controllers can be practically engineered to optimize control of power converters. Sami fadali professor ebme university of nevada, reno 1 outline variable structure systems sliding mode control motivating example khalil equivalent control 2 variable structure systems dynamic systems of the form where has discontinuities with respect to some arguments occur in problems in physics, control engineering and mathematics. Index termssliding mode control, finite time controller. Chattering reduction chattering could be reduced or suppressed using di. Stability analysis of slidingmode feedback control 3 book. In order to improve dynamical performances with static and dynamic specifications, we propose a systematic procedure to compute the gains of the. 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. The key idea is to apply strong control action when the system deviates from the desired behavior. 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.
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. 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. Sliding mode control of boost converter is studied. The main results concern the second order sliding mode control 1, 3, 6, even if sliding mode strategies of order higher than two have been proposed for siso nonlinear systems 7, 8, 9, 10.
The sliding surface is described by, and the sliding mode along the surface commences after the finite time when system trajectories have reached the surface. A complete understanding of this process is timely and necessary, as the electronics industry moves toward the use of renewable energy sources and widely varying. Sliding mode control an overview sciencedirect topics. Application backgroundsliding mode control is a robust and strong operation for controlling nonlinear dynamicsof systems that are usually used in engineering and other applications. Applying a equivalent control part of the control law 5 on 3 obtain sliding mode dynamic as.
The most used control algorithms are applied to a quarter vehicle model to demonstrate the advantages of this control approach. Introduction to sliding mode variable structure systems invariance condition matching condition y variable structure systems vss design sliding surface design discontinuous control y discretetime sliding mode boundary layer switching v. Sliding modes based control smc is becoming a very. The system is a second order dynamic system, consisting of a mass and a damper. 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. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. Design is decoupled into two independent subproblems. Choose a web site to get translated content where available and see local events and offers. Sliding mode control theory and applications download. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in sliding modes sliding mode control design using. Sliding mode control with industrial applications rutgers. If youre looking for a free download links of sliding mode control. Pdf introduction to sliding mode control researchgate.
Read download sliding mode control pdf pdf download. Sliding surfaces this section investigates variable structure control vsc as a highspeed switched feedback control resulting in sliding mode. Janardhanan and others published introduction to sliding mode control find, read and cite all the research you need on. The sliding mode control approach is developed and numerical examples are presented. The aim of this paper is to give a short overview of sliding mode control techniques implemented in the control of abs. Sliding mode control and observation shtessel 2014. 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. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. Pdf speed control of dc motor using sliding mode control.
Hence, a nonlinear control strategy based on sliding mode, which is a standard approach to tackle the parametric and modeling uncertainties of a nonlinear system, is chosen for slip control. In this, the sliding surfaces used to derive the different control schemes presented in this work are based on an integral. The respective chapters address applications of sliding mode control in the broad areas of chaos theory, robotics, electrical engineering, physics, chemical engineering, memristors, mechanical engineering, environmental engineering, finance, and biology. Sliding mode control of induction motor using simulation. Teaching, analyzing, designing and interactively simulating sliding. Sliding mode observers historical background and basic. 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. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control. Example on sliding mode control file exchange matlab. The system shows the nonlinearities and uncertainties. In the theoretical description of sliding modes, the system stays confined to the sliding surface and need only be viewed as sliding along the surface. Pdf sliding mode control and observation shtessel 2014.
The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. This site is like a library, use search box in the widget to get ebook that you want. Sliding mode control is based on variable structure systems composed with independent structures. The main streamline of the study is the sliding surface design for the system. The devel opments are illustrated with numerical examples throughout. Figure 1 shows an example trajectory of a system under sliding mode control. Based on your location, we recommend that you select. Some examples are, the interactive learning modules. Introduction variable structure systems with sliding modes have been the focus of a growing literature, see for example 1i6 and references therein. Designing robust control by sliding mode control technique. A modelfree control algorithm derived using the sliding.
The article presents a practical example of the definition proposed by filippov per a sliding mode control of an lc circuit and an experimental application on uninterruptible power supply. Sliding mode control of switching power converters. Sliding mode control smc consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. Sliding mode control smc is basically a nonlinear discontinuous. 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. The system is a second order system, consisting of a mass and a damper. In order to control the wheel slip, vehicle system dynamic equations are given in terms of wheel slip. Recently most of the controlled systems are driven by electricity as it is one of the cleanest and easiest with smallest time constant to change.