Sliding mode control in electromechanical systems, 1999. Design is decoupled into two independent subproblems. The research in this area was initiated in the former soviet union about 40 years ago, and the sliding mode control methodology has subsequently received much more attention from the international control. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by. Unesco eolss sample chapters control systems, robotics and automation vol. 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 request pdf. Chattering suppression methods in sliding mode control. The strengths of sliding mode controllers result from the ease and flexibility of the. The statefeedback control law is not a continuous function of time.
He is best known for being one of the originators of sliding mode control and variable structure systems, which have become fundamental concepts in the. From 1975 to 1978, he was in charge of an international project between his institute and energoinvest, sarajevo on the sliding mode control of induction motors. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. Generally speaking, sliding mode control smc is a robust nonlinear control algorithm that employs discontinuous control to force system state trajectories to lie on some prescribed sliding surface utkin, 1992. Sliding mode control of an uninterruptible power supply 88 disturbances e.
The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. Sliding mode control in electromechanical systems utkin pdf. The control task of the presented power level controller is to follow the desired power p d by regulating control rod speed. The sliding mode control technique is characterized by the following features. Stability analysis of slidingmode feedback control 3 book. Zlnober this paper presents sufficient conditions for the sliding mode control of a system with disturbance input. This cited by count includes citations to the following articles in scholar. The main theoretical advantage of sliding mode control is its insensitivity to the socalled.
Designing robust control by sliding mode control technique. In contrast with conventional sliding mode control, the system motion under integral sliding mode has a dimension equal to that of the state space. This second edition includes new results that have been achieved in smc throughout the. Sliding mode control in electromechanical systems 2nd edition by vadim utkin and publisher routledge. 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. But this type of control was often criticized because of the chattering problem caused by the discontinuous control. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of robust controllers for complex nonlinear dynamic systems operating under uncertainty. He is an author of five books and more than 300 technical papers. Sliding mode observers historical background and basic. He is the author or coauthor of five books and 350 papers.
Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. Robustness, stability, and implementation issues giorgio bartolini. 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 and fuzzy sliding mode control for dcdc.
The major advantage of sliding mode is low sensitivity to plant parameter variations and disturbances which eliminates the necessity of exact modeling. In this section, an adaptive sliding mode control scheme for the nuclear power plant in the presence of output disturbances is proposed based on the combination of sliding mode control and backstepping control methods. Description this dissertation addresses the problems of sliding mode control for systems with slow and fast dynamics. Sliding mode control in electromechanical systems automation and control engineering. Sliding mode control with state derivative output feedback.
The book is devoted to systems with discontinuous control. Pdf adaptive sliding mode controller for an inverted. Utkin is an author and coauthor of 5 books and 300 papers. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. Sliding modes in control and optimization springerlink. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. Sliding mode control implies that control actions are discontinuous state functions which may easily be implemented by conventional power converters with. Professor utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss design. Sliding mode control in electromechanical systems crc. Sliding mode control, pid controller, chattering phenomenon, nonlinear system.
Sliding mode existence and ideal sliding dynamics in order to analyze the closedloop behavior it is necessary to understand the dynamics in sliding modes. It can be used only when the control signal ut can switch at high frequency. The key idea is to apply strong control action when the system deviates from the desired behavior. Sliding mode control in electromechanical systems utkin. Abstractthe paper deals with the basic concepts, mathemat ics, and. Two different methods to address this issue can be found in the literature. 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.
Stephen yurkovich, xiaoqiu li, in the electrical engineering handbook, 2005. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. Sliding mode control design based on ackermanns formula. Sliding mode control lecture 2 urduhindi introduction. Road map for sliding mode control design vadim utkin. A system using a sliding mode control strategy can display robust performances against parametric and exogenous disturbances under the matching condition drazenovics condition. Utkin, variable structure systems with sliding modes, ieee. Sliding mode control design principles and applications to electric drives. Shi proposed an improved sliding control method named integral sliding mode control ismc. 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.
The domain of sliding mode motion is particularly investigated and the usefulness of the regular form is pointed out. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications. Road map for sliding mode control design vadim utkin springer. Currently he is a professor at ohio state university. Chapter 7 is dedicated to stability and stabilization. Novel switching function and approaching condition based on the derivative of sliding surface are introduced. Amir iqbal bhatti introduces sliding mode control with some mathematical background. This paper presents an adaptive sliding mode controller to stabilize a cartinverted pendulum. Sliding mode control in electromechanical systems, second. Pdf the first sliding mode control application may be found in the papers back in the.
The research in this area was initiated in the former soviet union about 40 years ago, and the sliding mode control. Sliding mode control of electromechanical systems heide brandtst. Sliding mode control in electromechanical systems, 1999, 338. Sliding mode control and fuzzy sliding mode control for dc. Sliding mode is the oldest robust control technique introduced more that 50 years ago see, for example, utkin 1977 and references therein. Sliding mode control has for many years been recognized as one of the. Discussion aspects of highorder sliding mode control ieee xplore. The motivation of this controller is to introduce the lyapunov function vx.
The original sliding mode controller had required high frequency switching around the. Times and again, this problem has been approached by mathematicians, physicists and engineers, each. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by vladim utkin. The main arguments in favor of sliding mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Ieee transactions on automatic control 45 9, 17111717, 2000. I on multiinput chatteringfree secondorder sliding mode control. Sliding mode controller design sliding mode control is a special version of an ono control. 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. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. Pdf sliding mode control design principles and applications. 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. Member, ieee abstract this paper presents a guide to sliding mode control for practicing control engineers.
His application interests are control of power converters and electric drives, robotics, and automotive control. View the article pdf and any associated supplements and. This paper investigates the novel sliding mode control design with state derivative output feedback in nontraditional reciprocal state space rss form. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. The proposed approach ensures a dynamical adaptation of the control gain in order to be as small as. For example, slidingmode control drives a sliding surface. Extended state observerbased adaptive dynamic sliding. Pdf sliding mode control design principles and applications to. 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. 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.
Utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Speed controller of induction motor by using sliding mode. 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 mode control encyclopedia of life support systems. On outputbased sliding mode control design using minimax. 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. Sliding mode control in electromechanical systems taylor.
Sliding mode control in electromechanical systems 2nd. In 19751978 he was in charge of an international project between his institute and energoinvest, sarajevo, on the sliding mode control of induction motors. 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. The basic concepts, mathematics, and design aspects of variablestructure systems as well as those with sliding modes as a principle operation mode are treated. Automation and control engineering series by vadim utkin. 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. It offers an accurate assessment of the socalled chattering phenomenon, catalogs. Sliding mode control in electromechanical systems utkin v. Sliding mode control an overview sciencedirect topics. Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999.
This method had opened new research areas from purely theoretical domains to practical applications. Sliding mode control in electromechanical systems 2nd ed. Sliding mode control for systems with slow and fast modes. The main obstacles for application of sliding mode control are two. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. The term sliding mode control comes from the theory of variablestructure systems, specifically.
Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. Pdf sliding mode control on electromechanical systems. Modeling, analysis and control john lygeros, claire tomlin, and shankar sastry december 28, 2008. A control engineers guide to sliding mode control k. 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. Abstractthis technical note discusses to what extent the high order sliding mode control may serve as an alternative to the con. Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss for the general case 1 sliding mode may exist in the intersection of all discontinuity.
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