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