Sliding mode control and observation control engineering. Jun 12, 20 sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers in. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. The primary aim of this paper is to show the possibility to use the sliding mode technique for the control design of the electromechanical system that can have a different topology and consist of. Electromechanical systems, sliding mode control, low pass filter, chattering attenuation 1. Not open to students with credit for 859 or mecheng 7259 or 859. Sliding mode control smc is an important robust control technique aiming at eliminating the effect of bounded matched uncertainties or external disturbances by means of a discontinuous controller. Sliding mode control smc is an important robust control technique aiming at eliminating the effect of bounded matched uncertainties or external disturbances. Motion of the system trajectory along a chosen lineplanesurface of the state space. Since the control input appears in the first derivative of. Moreover, some important control problems involving uncertain mechanical.
Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. Sliding mode technique in the task of the drive control. Shi, sliding mode control in electromechanical systems, taylor francis. Adaptive dual network design for a class of simo systems with. Sliding mode control in electromechanical systems electrical and. Modeling and sliding mode control of dcdc buckboost converter 477 iii. Online sliding mode control is suited to multilevel power converters as they are inherently variable structure systems. The considered problem for sliding mode control design can be stated as follows.
Control of electromechanical systems using sliding mode techniques heide brandtst. Sliding mode control in electromechanical systems, second. Teaching, analyzing, designing and interactively simulating. The book is written from the perspective of practical engineering and examines numerous classical. Pdf control of electromechanical systems using sliding. Application of the adaptation principle for control systems with variable structure. Discontinuous sliding surface for a general electromechanical.
Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and. Sliding mode control in electromechanical systems 7859 sliding mode control in electromechanical systems 7859 description. Most of the common electromechanical components, such as electric motors and solenoids are used in combination with mechanical parts to provide actuation or movement. Design, analysis and matlab simulation takes readers through the basic concepts, covering the most recent research in sliding mode control. Sliding mode control is a well known robust control algorithm for linearas well as nonlinear systems decarlo et al. In that time, sliding mode control smc has continued to gain increasing importance as a. The application of sliding mode, a nonlinear robust and selfcontained approach, to the control problem of electronic power converters, is outlined and illustrated. Hirschorn abstractthe purpose of this paper is to present a framework for the design of slidingmode based controllers for multiinput af. In contrast to conventional cascade control structures not only the variables of. Control of electromechanical systems using sliding mode techniques. Further, most of the uncertain systems with the traditional variable structure control requires that the uncertainties satis. An optimal control based approach with application to electromechanical systems. Therefore, this technique is increasingly being included.
Lecture notes in control and information science, vol 334. Structure systems are based on the deliberate introduction of sliding modes. Sliding mode control in electromechanical systems by vadim. 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. Electromechanical control systems simulator ecss is the first simulator written in. The rst attempts to apply the ideas of adaptation in sliding mode control smc were made in the 60s. Electromechanical control systems simulator ecss with. Modeling and sliding mode control of dcdc buckboost converter. Sliding mode control in electro mechanical systems abebooks. Sliding mode control of electromechanical systems heide brandtst.
With its versatile yet simple design procedure the methodology is proven to be one of the most powerful solutions for many practical control designs. Utkin abstractthe paper deals with the basic concepts, mathemat ics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode. Sliding mode control in electro mechanical systems. Electromechanical systems and devices, 1st edition. Thus, not only the existence of a sliding mode on the switching surface but the design of the proper switching surface is key problems in vsc system design. Examples of dynamic systems with sliding modes 1 1. The first sliding mode control application may be found in the papers back in the 1930s in russia.
A very suitable method for the control of this type of systems is the sliding mode control. Sliding mode control in electromechanical systems automation and control engineering by shi, jingxin,guldner, juergen,utkin, vadim and a great selection of related books, art and collectibles available now at. Pdf the first sliding mode control application may be found in the papers back in the 1930s in russia. The reasons can be found in the robustness offered against uncertainty and disturbances in both linear and nonlinear systems. Sliding modes in relay and variable structure systems 4 1. Teaching, analyzing, designing and interactively simulating of sliding mode control. They establish a very important class of industrial components often found in current. The sliding mode control approach is recognized as one of the efficient tools to. Sliding mode controller for electromechanical system with. Full text of sliding mode control in electro mechanical systems.
Key words adaptive control, critic network, sliding mode control smc, neural network a longlasting focus on the electromechanical system is how to design a simple and e. Sliding mode control in electromechanical systems utkin. Proceedings of national conference on control, vol. Pdf sliding mode control of electromechanical systems. Abstractthis article proposes a sliding mode control for electromechanical systems, for instance a dc motor with an inverted pendulum as load is considered. Sliding mode control smc is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. Students should be able to learn the applications of the electromechanical systems without difficulty 12. In this, a sliding mode controller is derived so that the actual trajectory tracks the desired trajectory despite uncertainty, nonlinear dynamics, and external disturbances. New trajectory that was not present in any of the two original systems sliding mode. Sliding mode control in electromechanical systems utkin pdf email. Sliding mode control in electromechanical systems 7859 description sliding modes an efficient tool to control high order dynamic plants operating under uncertainty conditions.
Sliding modes an efficient tool to control high order dynamic plants operating under uncertainty conditions. Sliding mode control in electromechanical systems 2nd edition. Traditionally, the conventional sliding mode control method has been designed for the systems with relative degree of one. Sliding mode control encyclopedia of life support systems. Outline of sliding mode control methodology references 15 chapter 2 mathematical background 17 2. Advanced sliding mode control for mechanical systems design. Doi link for sliding mode control in electromechanical systems. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Full text of sliding mode control in electro mechanical systems see other formats. Generalized slidingmode control for multiinput nonlinear systems ronald m. Sliding mode control in electromechanical systems pdf.
Electromechanical systems introduction as the name suggests, electromechanical systems or devices convert electrical energy into mechanical movement and sometimes vice versa. Sliding mode control in electromechanical systems vadim. Pdf sliding mode control on electromechanical systems. Sliding mode control on electromechanical systems article pdf available in mathematical problems in engineering 845 september 2002 with 580 reads how we measure reads. Sliding mode control in electromechanical systems utkin v. It is shown that the main advantages of sliding mode control are order reduction. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications. Control of electromechanical systems using sliding mode. Sliding mode control in electromechanical systems 7859. Sliding mode design methodology the sliding mode theory provides a method to design a controller for a system so that the controlled system is to be insensitive to parameter variations and external load disturbances 5, 6. The main argu ments in favor of sliding mode control are order reduction.
Vadim utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Utkin v, guldner j and shi j 1999 sliding mode control in mechanical systems taylor and francis ltd, 11 new fetter lane, london. Electromechanical systems and devices, 1st edition sergey edward lyshevski students entering todays engineering fields will find an increased emphasis on practical analysis, design, and control. Walter barie and john chiasson 1996 linear and nonlinear state space. 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. 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 in electromechanical systems utkin pdf. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation. Introduction sliding modes based control smc is becoming a very used technique in recent times. Sliding mode control in electromechanical systems request pdf.
For the sake of demonstration this paper is oriented towards application aspects of sliding mode control methodology. Sliding modes an efficient tool to control high order dynamic plants. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. 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, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. Learning of their usage is time consuming and they also might be costly for many students and instructors. These robustness properties make this discontinuous control strategy very. Over 10 million scientific documents at your fingertips. Experimental evaluation of slidingmode control techniques.
Advanced sliding mode control for mechanical systems. Design is decoupled into two independent subproblems. The primary aim of this paper is to show the possibility to use the slidingmode technique for the control design of the electromechanical system that can have a different topology and consist of. Fundamentals of sliding mode control robustness and systematic design procedure are wellknown advantages of sliding mode controllers 1,3. The phenomenon sliding mode may appear in dynamic systems governed by. This problem is deeply rooted in the nonlinearity and time variance of the systems due to the limitations of modern modeling. Electromechanical systems may be considered as devices transforming electrical into mechanical energy.
Sliding mode control of electromechanical systems request pdf. Sliding mode control enables the decoupling of the overall system motion into. Exercises provided at the end of each chapter make this an ideal text. Sliding mode control with adaptation minimizing chattering. Full text of sliding mode control in electro mechanical. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Sliding mode control provides insensitivity to parameter variations and disturbances.