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