Introduction 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. 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. Marchand gipsalabnonlinear controlmaster pspi 2009. The motivation of this controller is to introduce the lyapunov function vx. Due to its robustness properties, the sliding mode controller can solve two major difficulties. In practical applications of sliding mode control, engineers may experience undesirable phenomenon of oscillations having finite frequency and amplitude, which is known as chattering. An introduction 15 the sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using. Sliding mode control ppt final control theory servomechanism. Modeling, analysis and control john lygeros, claire tomlin, and shankar sastry december 28, 2008. This text provides the reader with a grounding in sliding mode control. On the other hand, by allowing the tradeoffs between modeling and. Principle scheme a basic sliding mode control scheme of dcdc converters is shown in fig.
Dynamic smc dsmc 712, a generalized controller of smc, is a powerful chattering reduction technique and is based on injecting dynamics to the major system. Sliding mode control and fuzzy sliding mode control for dcdc converters 7 the continuous component insures the motion of the system on the sliding surface whenever the system is on the surface. Sensorless foc for pmsm using reduced order luenberger observer introduction current industry trends suggest that the permanent magnet synchronous motor pmsm is the first preference for motor control application designers. Pdf introduction to sliding mode control researchgate. Concept of sliding mode controller advantage of sliding mode controllers is their insensitivity to parameter variations and disturbances once in the sliding mode, there by eliminating the necessity of exact modeling. Sliding mode observer and controller for performance. The equivalent control that maintains the sliding mode satisfies the condition s 0 8 assuming that the matrix, s g xt x w w. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. 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 statefeedback control law is not a continuous function of time. Nonlinear approaches clf sliding mode geometric control recursive techniques x4 stabilization observers control of nonlinear systems nicolas marchand cnrs associate researcher nicolas. However, these methods do not confirm sliding mode condition exactly. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a. Index termspower converters, sliding mode control, nonlinear controller, pulsewidth modulation, doubleintegral sliding mode.
The task of matching the controller response to the process capacity is tuning each mode, p, i, d has a numerical term associated with it tuning constants wrong tuning constants result in bad not straight line control everyone wants to know what numbers or values to enter its different for every process. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control. Pdf dynamic sliding mode control design researchgate. The main mode of vsc operation is sliding mode control smc. All the control techniques suggested above require complete knowledge of the system model and model parameters, but errors in the identi. Emphasis is placed upon presenting a constructive theoretical framework to facilitate practical design. 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. Sliding mode control smc is basically a highspeed switching. Sliding mode based loadfrequency control in power systems. Introduction the practical use of sliding mode sm controllers in power. The method alters the dynamics of a nonlinear system by application of a highfrequency switching control. Abstractthis paper proposes a novel adaptive sliding mode control with pid tuning method for a class of uncertain systems. The robustness of the sliding mode controlled buck.
In other words it can be used instead of a standard 1slidingmode controller in. Example on sliding mode control file exchange matlab. Sliding mode control is a typical nonlinear control technique 5. Variable structure control vsc is a form of discontinuous nonlinear control. Dynamic sliding mode control adds additional dynamics, which. In the slidingmode control theory, control dynamics have 2 sequential modes, the first is the reaching mode and the second is the sliding mode utkin 1977, utkin 1992. Sliding mode control encyclopedia of life support systems. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control performance. Sliding mode control is an important robust control approach. 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. Dual mode control infinite horizon terminal constraint set increase feasibility region terminal cost and constraint set.
Two industrial case analysis, which present the outcomes of sliding mode controller implementations, are used for example the worthwhile smart software precept. Section ii formulates the classical sliding mode control paradigm in a state space framework and introduces some of the defining characteristics of the approach. The delta sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode. Nov 09, 2015 sliding mode control and its application 1. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Application of sliding mode control to dcdc converters 3. Dynamic sliding mode control based on fractional calculus. This is to certify that the thesis entitled adaptive second order sliding mode. With its versatile yet simple design procedure the methodology is proven to be one of the most. Some drawbacks present in the above algorithms can be listed as follows. These robustness properties make this discontinuous control strategy very attractive.
Hence the sliding mode control is a two part controller design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. The sliding mode control approach is recognized as one of the efficient tools to design. Contribute to legimetnpdf development by creating an account on github. In this paper, a robust sliding mode controller for the control of dcdc buck converter is designed and analyzed. Dynamic equations describing the buck converter are derived and sliding mode controller is designed. The paper presents a brief survey on variable structure control systems with sliding modes. A practical design approach which aims at systematizing the procedure for the selection of the control parameters is introduced.
The developments are illustrated with numerical examples throughout. The integral sliding mode controller ismc also, the ismc is a good method for controlling a nonl be considered as an effective and powerful technique. The paper briefly introduces sliding mode control smc of the planar redundant parallel robot. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. A twoloop control is employed for a buck converter. 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. The main mode of vsc operation is sliding mode control. Direct current motors, speed control, proportional plus integral controller, sliding mode control i. Sliding mode control extends the properties of hysteresis control to multivariable environments, resulting in stability even for large supply. 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. From this basis, additional superior theoretical outcomes are developed. The key idea is to apply strong control action when the system deviates from the desired behavior. Output high order sliding mode control of unitypowerfactor in threephase acdc boost converter laboratoire set. Janardhanan and others published introduction to sliding mode control find, read and cite all the research you.
Study of sliding mode control of dcdc buck converter. Output high order sliding mode control of unitypowerfactor. Sliding mode control the sliding mode control is a well documented control technique, and their fundamental s can be founded in the following references, utkin 1993, utkin et al. Our generalized slidingmode controller is modelled after sample and hold controllers used in digital control, hence our state trajectories are continuous piecewise smooth curves. Theory and applications series in systems and control 9780748406012 by edwards, c. The present volume addresses a range of sliding mode control issues, including.
However, its implementation in the presence of unmodeled dynamics leads to highfrequency oscillations termed chattering. The system is a second order dynamic system, consisting of a mass and a damper. 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. 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.
The robustness of continuoustime sliding mode control is obtained by high frequency switching of highgain control inputs. For the class of systems to which it applies, sliding mode controller design provides a systematic approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. A pulsewidthmodulation based sliding mode controller for buck converters siewchong tan, y. The typical structure of a robust controller is composed of a nominal part, similar to an ordinary feedback control law, and additional terms aimed at dealing with model uncertainty. Designing robust control by sliding mode control technique. Realtime implementation of a sliding mode controller for air supply on a pem fuel cell. This book provides many sliding mode controller design examples, along with simulation examples and matlab programs. Sliding mode control of electromechanical systems heide brandtst. Supertwisting sliding mode in motion control systems. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. For u 1 u rated, the generator torque is used to maintain constant power, pitch control is used to regulate the rotor r. The main streamline of the study is the sliding surface design for the system. A pulsewidthmodulation based sliding mode controller for.
It has strengths, such as high power density, fast. This has some connections with the work of clarke, ledyaev, and. Theory and applications series in systems and control pdf. Additionally, a simple analog form of the controller for practical realization is provided. Some simulation results show the advantages and principally the. In 2007, a new type of arbitraryorder controller 15, which isrth sliding homogeneous, controller was proposed. Sliding mode control smc is able to deal with uncertainty and nonlinearity. The second is concerned with the selection of a control law that will make the switching surface attractive to the system state 1. Furthermore, in a special mode, named a sliding mode, these properties include insensitivity to certain socalled matched external disturbances and model uncertainties as well as robustness to parasitic dynamics. 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. Pdf dynamic sliding mode control and higher order sliding mode are studied. 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. 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.
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 doubleintegral type of indirect sliding mode controllers. Sliding mode control smc technique is one of the important robust control approaches. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. Applied nonlinear control, slotine and li, prenticehall 1991. Performance of the speed tracking is then compared with a classical pi controller.
Sliding mode control and its application slideshare. Feedback control for dynamic systems auburn university fall semester 2018. Sliding mode control provides insensitivity to parameter variations and disturbances. If you want to get hold of this doc please let me know engr.
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 sliding mode control on electromechanical systems. Therefore in this section, the main features of this control technique are revis ited in order to introduce the supertwisting algorithm. If youre looking for a free download links of sliding mode control. Abstract this paper presents a guide to sliding mode control for practicing control engineers. Sliding mode controller design for abs system vtechworks. Sliding mode control and fuzzy sliding mode control for dc. The goal is to achieve system robustness against parameter variations and external disturbances.
The sliding mode control is demonstrated for linear timeinvariant systems and for control of induction motors. 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. Introduction brushless dc motors1,2 have been used in various. The first part involves the design of a sliding surface so that the sliding motion satisfies design specifications. The statefeedback control law is not a continuous function of. Spurgeon, s and a great selection of similar new, used and collectible books available now at great prices. Powerpoint opens offscreen my laptop screen resolution is set to its recommended 1440x900. To adapt the sliding mode philosophy for a digital controller, the sampling frequency should be increased compared to other types of control method. Sliding mode control of an uninterruptible power supply 88 disturbances e. A framework for synthesis of classical sliding mode controllers is described in section iii and section iv presents a tutorial design example.
Sliding mode control ppt final free download as powerpoint presentation. The simulation results showed that smc was a superior controller than pi controller for speed control of a bldc motor keywords. The first sliding mode control application may be found in the papers back in the 1930s in russia. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation.
This monograph presents a novel method of sliding mode control for switchregulated nonlinear systems. When i run powerpoint, it appears to open off the screen the powerpoint icon appears on the taskbar, and when i click it a window appears to fly off the righthand side of the screen. Control strategies for uncertain systems, submitted by. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Sliding mode controller design sliding mode control is a special version of an ono control. 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. 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. Download limit exceeded you have exceeded your daily download allowance. Sensorless foc for pmsm using reduced order luenberger.
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