Robust sliding mode predictive control of uncertain. This book aims to explain recent investigations output in the field of discretetime sliding mode control. This paper sets forth general conditions on the existence, boundedness, and proper gains of a control for stabilizing a nonlinear plant state trajectory to a sliding manifold denoted by s contained in the state space as characterized by a smooth quadratic lyapunov function, v. Utkin the purpose of this book is to describe a new approach for the design of highefficiency control of multidimensional systems operating under uncertainty conditions. Engineering and manufacturing mathematics actuators comparative analysis independent regulatory commissions robots. Research article by mathematical problems in engineering. In this paper the concept of multivariable discretetime sliding mode is clarified and new sufficient conditions for the existence of the sliding mode are presented. Sliding mode control theory seeks to produce controllers to over some such mismatches. A new control design using the properties of discrete sliding is proposed, and the behavior of the system in the sliding mode is studied. Integral sliding mode in systems operating under uncertainty conditions v utkin, j shi proceedings of 35th ieee conference on decision and control 4, 45914596, 1996.
It covers mathematical, control and technological aspects of discontinuous control systems. Sliding mode control using matlab by jinkun liu books on. Much of the book is devoted to a description of advanced, optimized and specialized sliding mode control. Combination of integral sliding mode control design with. The book is devoted to systems with discontinuous control. Sliding modes in control and optimization semantic scholar. Sliding modes in control and optimization communications and control engineering hardcover january 16, 1992 by vadim i. The design of feedback control in the systems with sliding modes implies design of manifolds in the state space where control components undergo discontinuities, and control functions enforcing motions along the manifolds. Once the constraint sliding function csf was chosen according to some design specifications stabilizing dynamics or tracking, then two difficulties may appear. Two relay control robustification by continuous switched integral sliding modes. Formulation of higher order sliding mode control using controllability function method is presented in section iv. Dl the csf should be of relative degree one differentiating once for this function with respect to time. Download for offline reading, highlight, bookmark or take notes while you read sliding mode control. This book describes the advances and applications in sliding mode control smc which is widely used as a powerful method to tackle uncertain nonlinear systems.
Read sliding modes in control and optimization communications and control engineering ebook. The motivation of this controller is to introduce the lyapunov function vx. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. The paper presents a brief survey on variable structure control systems with sliding modes. Utkin, sliding modes in control and optimization, springer verlag, berlin, 1992 the book includes mathematical, design and application aspects of sliding mode control. This method is proved to be robust against disturbances and discrepancies between the physical plant and its. It contextualises pemfcs both in terms of their development and within the hydrogen economy and todays. Section ii, the concept of higherorder sliding modes is introduced. If youre looking for a free download links of sliding mode control. Design and implementation of sliding mode controller for.
Fault diagnosis and faulttolerant control of uncertain. First, a vector multivariable supertwisting algorithm is designed to provide a direct extension of the conventional scalar supertwisting control, without any additional terms. Sliding modes in control and optimization springerlink. Smith, north carolina state university editorial board series volumes ferrara, a. Adaptive neurofuzzy sliding mode control guidance law with impact angle constraint. Sliding modes in control and optimization communications. Open daisys can be read by anyone in the world on many different devices. A sliding mode controller for an automotive selective catalytic reduction system is designed to drive its ammonia surface coverage ratio to the target level. Sliding mode controller design sliding mode control is a special version of an ono control. To this end, an optimal sliding and decoupled sliding mode control technique based on three multiobjective optimization algorithms, that is, multiobjective periodic cdpso, modified nsgaii and sigma method is presented to control two dynamic systems including biped robots and ball and beam systems. 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.
Optimal sliding and decoupled sliding mode tracking. Singlestate system, 6 conclusions contain illustrative examples. Fractional order sliding mode controller design for large. 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. The internet archive is proud to be distributing over 1 million books free in a format called daisy, designed for those of us who find it challenging to use regular printed media. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems.
Sliding mode control is an area of increasing interest in control engineering. Two relay control robustification by continuous switched. Sliding mode control and observation ebook for scaricare. Pdf advances and applications in sliding mode control. This paper presents the design of a new adaptive optimization. Advanced and optimization based sliding mode control. Abstract sliding mode control provides insensitivity to parameter variations and disturbances. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control.
A new reducedorder sliding mode observer design method. Sliding mode control smc has recently attracted great attention owing to its attractive features such as fast response, good transient performance, and, most importantly, its insensitivity to uncertainties, which makes it fairly suitable for the nonlinear or uncertain systems 79. Apr 09, 2015 outrageous control of a sliding semi truck and 53 ft. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control. An upper estimate of its convergence settling time is calculated. Multivariable continuous fixedtime secondorder sliding.
Paperslidingmodesincontrolandoptimizationutkindda686f20995664afd36da35ab725eb3676f6870. Sliding modes in control and optimization communications and control engineering vadim i. The proof of the obtained results is given in appendix. Mode tracking control by multi objective particle swarm optimization and genetic algorithms. Pdf applications of sliding mode control in science and. The most distinguishing property of vscs is that the closed loop system is completely insensitive to system uncertainties and external disturbances. Adaptive sliding mode control of the furuta pendulum. Sliding modes in the problems of static optimization. Sliding mode control theory and applications download. Sliding modes in control and optimization by vadim i. A novel timevarying nonlinear sliding surface is employed. Advances and applications in sliding mode control systems. Sliding modes in control and optimization communications and.
Slidingmode control of automotive selective catalytic. Sliding mode control of discretetime systems journal of dynamic. Utkin author see all 5 formats and editions hide other formats and editions. 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. Discretetime sliding mode control dsmc has been defined in numerous ways. Pdf advances and applications in sliding mode control systems. Implementation of discontinuous control is natural for widely used electronic power converters with key operation. The proposed controller strategy is composed of two components. Read congestion control in data transmission networks. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Buy sliding modes in control and optimization by vadim i utkin online at alibris.
Jul 07, 2019 open library is an open, editable library catalog, building towards a web page for every book ever published. A novel approach for chattering minimization in sliding mode. Vadim i utkin the purpose of this book is to describe a new approach for the design of highefficiency control of multidimensional systems operating under uncertainty conditions. Oclcs webjunction has pulled together information and resources to assist library staff as they consider how to handle coronavirus issues in their communities. Utkin, sliding modes and their applications in variable structure systems, mir publ. Sliding mode control of automotive selective catalytic reduction systems with state estimation show all authors. Among the issues the authors consider are minimumtime convergence to the sliding manifold, algorithms for systems with input and state constraints, eventtriggered and modelbased control, and control for networked systems.
The focus of this book is on the design of a specific control strategy using digital computers. The book introduces the theory of fuel cells and sliding mode control. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. This site is like a library, use search box in the widget to get ebook that you want. The fractional order sliding mode controller has the capacity to produce better performance in comparison to integer order sliding mode controllers due to higher degrees of freedom for tuning. Buy this book ebook 96,29 price for spain gross buy ebook isbn 9783642843792. A representative gimbal system consisting of a flat planar antenna, pitchyaw gimbals, connecting push rods, and separate armature controlled dc drive motors for the pitch and yaw gimbals is utilized to. Fault diagnosis and faulttolerant control of uncertain robot manipulators using highorder sliding mode. These robustness properties make this discontinuous control strategy very attractive. This book deals with sliding mode control smc of uncertain nonlinear systems, focusing in particular on advanced and optimization based algorithms. 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 modes in control and optimization by vadim i utkin. Sliding mode control smc design is well established for continuous control.
The control problem thus formulated will be solved by means of discontinuons control flillctions that ensure the follow up in the relay systems and variable structure sl1stems by utilizing the sliding modes the essence of the method suggested \vill in the first place be elucidated for the problem of optimizing a onedimensicnal plant without. The sliding mode control smc design is discussed for a class of timevarying delay systems which is delayrangedependent and raterangedependent. The aim is to provide an overview and critical discussion of the results published by the authors in recent years, so as to organize them into a wellstructured and consistent compendium. Sliding mode control encyclopedia of life support systems. Particle swarm optimization based sliding mode control design. Sliding mode control and observation ebook written by yuri shtessel, christopher edwards, leonid fridman, arie levant. Sliding mode optimal control for linear systems sciencedirect. Spurgeon, robust mimo water level control in interconnected twintanks using second order sliding mode control, control engineering practice 14, 375386, 2006. Click download or read online button to get sliding mode control theory and applications book now. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you.
Sliding modes in problems of mathematical programming. Section 2 states the optimal control problem for a linear system with a nonquadratic bolzameyer criterion. This paper considers the performance of a twoaxis gimbal system, which is typical of surfacetoair, airtoair, and airtosurface tactical missiles, when sliding mode control is utilized. Finding ebooks booklid booklid download ebooks for free. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation. 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. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions.
The generator torque is used as the control input to vary the rotor speed in. Sliding modes in control and optimization springerverlag, berlin, heidelberg, germany, 1992. Sliding mode control and observation by yuri shtessel. Sliding mode control of discretetime systems journal of. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in sliding modes sliding mode control design using outline 1 the sliding mode control 2 filippov theory 3 physical interpretation of the equivalent control 4 invariance in sliding modes 5 sliding mode control design using regular form.
Sliding modes in optimization and control problems. Sliding modes in control and optimization ebook, 1992. Sliding modes in control and optimization book, 1992. Sliding modes in control and optimization open library.
To state such conditions we define a timevarying possibly discontinuous in time statedependent decision manifold. An example 121 4 systems in the canonical form 123 chapter9 dynamic optimization 1. Sliding mode control based on novel nonlinear sliding surface. Sliding mode control of pem fuel cells demonstrates the application of higherorder sliding mode control to pemfc dynamics showing the advantages of sliding modes. Sliding modes in control and optimization communications and control engineering. Adaptive neurofuzzy sliding mode control guidance law with impact. The generation of sliding modes is the basic design idea resulting in decomposition of system motion and invariancy to uncertainties in plant behaviour. The domain of sliding mode motion is particularly investigated and the usefulness of the regular form is pointed out. Jun 08, 2016 read congestion control in data transmission networks. Moreover, an integral sliding mode surface in integral type is developed to construct the reachability of sliding mode using the lyapunov functions method.
Sliding modes in control and optimization by vadim ivanovich utkin, 1992, springerverlag edition, in english. 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. Sliding modes in control and optimization communications and control engineering utkin, vadim i. The purpose of this book is to describe a new approach for the design of highefficiency control of multidimensional systems operating under uncertainty conditions. The key idea is to apply strong control action when the system deviates from the desired behavior.
Second, a fixedtime convergent continuous vector supertwistinglike algorithm is presented and its. This control strategy referred to as sliding mode control smc, has its roots in continuoustime relay control. Sliding mode controller, chattering reduction, switching function, boundary layer. Mohamedmourad lafifi said, model predictive control mpc is a model based control but sliding mode control smc is modelfree control. Open library is an open, editable library catalog, building towards a web page for every book ever published. Ti sliding modes in control and optimization springerlink. A novel sliding mode control for a class of second. Utkin, 9783642843815, available at book depository with free delivery worldwide. 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.
A unifying characterization of robust sliding mode control. The sliding mode solution to the optimal control problem is given in section 3. Chapter 7 is dedicated to stability and stabilization. Indeed, in the mid 1970s the control committee system started to adapt the sliding mode theory outside russia. The design methodology is illustrated by sliding mode control in linear systems eigenvalue placement, optimization.847 1545 17 1562 1482 1564 1408 746 1350 355 1271 866 481 1143 4 700 923 757 1582 309 1188 1189 1141 1098 610 445 586 773 1055 1 1425 405 102 814