Sliding mode control in electromechanical systems crc. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. Sliding mode control in electromechanical systems electrical and. Sliding mode control enables separation of the overall system motion into independent partial. In this, a sliding mode controller is derived so that the actual trajectory tracks the desired trajectory despite uncertainty, nonlinear dynamics, and external disturbances. Pdf sliding mode control of a class of uncertain systems. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi 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 encyclopedia of life support systems. Doaj is an online directory that indexes and provides access to. Information about the openaccess article sliding mode control on electromechanical systems in doaj. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation.
Sliding mode control in electromechanical systems pdf. Robust control technology based on this methodology has been applied to many realworld problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Read download sliding mode control pdf pdf download. Save up to 80% by choosing the etextbook option for isbn.
Backstepping integral sliding mode control of an electromechanical system ramazan coban department of computer engineering, cukurova university, adana, turkey article history received 11 november 2016 accepted 22 december 2017 abstract the aim of this paper is to design a backstepping integral sliding mode controller bismc for. Sliding mode control in electromechanical systems 2nd. Teaching, analyzing, designing and interactively simulating. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. An alternative approach is designing asymptotic observers, which are dynamic systems for estimating all the components of the state vector using those measured directly. Doi link for sliding mode control in electromechanical 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. Pdf control of electromechanical systems using sliding mode. Structure systems are based on the deliberate introduction of sliding modes.
This approach is appropriate to electromechanical systems like. Its strengths result from its simple, flexible, and highly costeffective approach to. Control of electromechanical systems using sliding mode. Adaptive nonsingular fast terminal sliding mode control for. In selfeventtriggering, the control is not updated in a periodic manner like in classical sampleddate system.
Pdf on sliding mode control for nonlinear electrical. Slidingmode control of the active suspension system with. Sliding mode control in electromechanical systems, 1999, 338. Its wellknown order reduction property and its insensitivity to disturbances and plant parameter variations makes it an interesting tool for nonlinear robust control. Adaptive nonsingular fast terminal sliding mode control. Sliding mode control smc is an important robust control technique aiming at eliminating the effect of bounded matched uncertainties or external disturbances. Lecture notes in control and information sciences, vol 412. Control of electromechanical systems using sliding mode techniques heide brandtst.
The stability analysis is given to show the sliding mode establishment and an example is considered to demonstrate the benefits of the proposed strategy. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem. An integral sliding modebased robust consensus control. Additional to the mechanical variables, the variable of the electrical system, the current, in. This book explains the conventional smc methodology. Selftriggeringbased slidingmode control for linear systems. Sliding mode control in electromechanical systems utkin pdf email.
Hence, sliding mode is attributed to high potentials as a prospective control methodology for electric drive systems. Note again that the classical linear feedback control fails to provide a causal optimal control for the criterion see also remark 3. 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. Sliding modes an efficient tool to control high order dynamic plants.
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. Pdf control of electromechanical systems using sliding. A solution to this problem can be found through the use of integral sliding mode control. These qualities lead to dramatic improvements in stability and help enable the design of highperformance control systems at low cost. Click download or read online button to get sliding mode control theory and applications book now. Request pdf sliding mode control on electromechanical systems the first sliding mode control application may be found in the papers back in the 1930s in russia. This paper presents a control approach that is based on the combination of linear matrix inequalities and sliding mode control. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. R department of instrumentation and control systems engineering, psg college of technology, coimbatore, 641004, india. Design and implementation of sliding mode controller for. Lmi sliding mode control approach for electromechanical. Sliding mode control theory and applications download. The authors discuss here the robust stabilisation of a linear timeinvariant system using sliding mode control smc with the selftriggering strategy. The design of sliding mode control for nonlinear multivariable systems has been extensively studied in many books and papers.
It can be observed that the sliding mode control yields a slightly better value of the criterion in comparison to the linear feedback control. However, its implementation in the presence of unmodeled dynamics leads to highfrequency. Sliding mode control in electro mechanical systems. The output feedback sliding mode control method of section 5. Sliding mode control of pendulum systems sliding mode. Sliding mode control of electromechanical systems heide brandtst. This article analyzes sliding mode control of electromechanical systems. Sliding mode control in electromechanical systems utkin pdf. Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999. The approach presented extracts the error at the output of the controller. In contrast to conventional cascade control structures not only the variables of. This paper proposes a method for tuning the parameters of a variable structure controller. Dec 01, 2000 read sliding mode control in electromechanical systems, control engineering practice on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips. Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and.
Sliding mode control in electromechanical systems request pdf. Sliding mode control in electromechanical systems utkin v. Pdf sliding mode control on electromechanical systems. Sliding mode control in electromechanical systems 2nd edition by vadim utkin and publisher routledge. It is shown that the main advantages of sliding mode control are order reduction. In contrast to conventional cascade control structures not only the variables of the mechanical system but also the electrical variables are part of the control law and. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications. A disturbanceobserverbased sliding mode controller is designed for the electrical loop while a stateanddisturbanceobserverbased sliding mode controller is designed for the electromechanical loop.
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. In contrast to conventional cascade control structures not only the variables of the mechanical system but also the electrical variables are part of the control law and voltage is used as discontinuous control input. Sliding mode control theory seeks to produce controllers to over some such mismatches. In section ii the proposed control scheme explained for arbitrary electromechanical systems recei ves priority consideration. Sliding mode control provides insensitivity to parameter variations and disturbances. Sliding mode controllers and observers for electromechanical. However, formatting rules can vary widely between applications and fields of interest or study. 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. This site is like a library, use search box in the widget to get ebook that you want. In this paper we introduce a new approach to the sliding mode control design based on orthogonal models. Sliding mode control of electromechanical systems computer. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. Sliding mode control in electromechanical systems 2nd ed.
This paper proposes a control technique for integral sliding mode in discrete time systems. In the design of sliding mode controller the first stage is a design of sliding surface while the second is forces the state to approach the sliding surface from any other region of the state space, and remains on it 1 refer fig. Sliding mode control in electromechanical systems, second. Sliding mode control in electromechanical systems book. Pdf sliding mode control of electromechanical systems. Many design techniques upon the control of nonlinear systems have emerged recently such as sliding mode control smc, adaptive control ac and backstepping control bsc. The proposed control strategy uses only the system output to compute the control signal, hence becomes more practical. With its versatile yet simple design procedure the methodology is proven to be one of the most powerful solutions for many practical control designs. Based on the proposed model, a sliding mode control method is designed to control the active suspension system. Smc is a useful approach to robust controller design for electromechanical systems 39.
Sliding mode control on electromechanical systems article pdf available in mathematical problems in engineering 845 september 2002 with 494 reads how we measure reads. First, we discuss the sliding mode control based on a model given in controllable canonical form. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. Sliding mode control smc is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. Control of electromechanical systems using sliding mode techniques. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. May, 2002 the first sliding mode control application may be found in the papers back in the 1930s in russia. Sliding mode optimal control for linear systems sciencedirect. Sliding mode control in electromechanical second edition vadim utkin ohio state university columbus, ohio, u. The phenomenon sliding mode may appear in dynamic systems governed by. Stateanddisturbanceobserverbased sliding mode control. Sliding mode control in electromechanical systems utkin, guldner.
Sliding mode control in electromechanical systems course description sliding modes an efficient tool to control high order dynamic plants operating under uncertainty conditions. Pdf the first sliding mode control application may be found in the papers back in the 1930s in russia. Its strengths result from the ease and flexibility of. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. S department of instrumentation and control systems engineering, psg college of technology. Vadim utkin is one of the originators of the concepts of variable structure systems and sliding mode control. These robustness properties make this discontinuous control strategy very attractive. Sliding mode control in electromechanical systems 2nd edition. Sliding mode control in electromechanical systems, control. Sliding mode control in electromechanical systems knohl, t 20001201 00. A switching function is designed to control the system. Shi, sliding mode control in electromechanical systems, taylor francis. This paper presents a control technique suitable for electromechanical systems such as robotic arms, rotational pendulums and helicopter models.
Jingxin shi 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 of electromechanical systems request pdf. Sliding mode control and observation control engineering. In smc, a sliding surface sliding mode and a switching function are determined 38. Sliding mode control in electromechanical systems, 1999. 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.
Citeseerx document details isaac councill, lee giles, pradeep teregowda. An improved model of the active suspension system is proposed. Sliding mode control in electromechanical systems utkin. This article proposes a sliding mode control for electromechanical systems, for instance a dc motor with an inverted pendulum as load is considered. Compared with the existing model of active suspension system, the dynamics of a hydraulic actuator in the active suspension system is fully considered in the proposed model. Sliding mode control smc is a universal design tool for the robust control of linear and nonlinear systems. Then, we design almost orthogonal filters based on. The first sliding mode control application may be found in the papers back in the 1930s in russia. For the sake of demonstration this paper is oriented towards application aspects of sliding mode control methodology. Networked multiagent systems, uncertain systems, integral sliding mode, robust control. Among the distinctive features claimed for sliding mode control are order reduction, disturbance rejection, strong robustness, and simple implementation by means of power converters.
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