A read is counted each time someone views a publication summary such as the title, abstract, and list of authors, clicks on a figure, or views or downloads the fulltext. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. On discretization of sliding mode control systems rmit. Click download or read online button to get sliding mode control theory and applications book now. In order to ensure smooth control action throughout the entire operating range, this thesis proposes an adaptive integral sliding mode controller. They are then used to synthesize efficient discretized sliding mode realizations that optimize crossing frequency and the associated controller sampling period. Sliding mode controller design sliding mode control is a special version of an ono control. 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. Sliding mode control is a typical nonlinear control technique 5, 6, that modifies system performance by. Due to its robustness properties, the sliding mode controller can solve two major difficulties involved in the design of a braking control algorithm. The rest of this thesis details the application of variable structure control to the. Dynamical modelling of a flexible motorised momentum exchange. Sliding mode control with nonlinear interpolation in the boundary layer is proposed. Sliding mode control is a wellknown approach to the problem of the control of uncertain systems, since it is invariant to a class of parameter variations.
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. Department of eee assistant professor research scholar. Then, three controllers were designed using the pmsg wind turbine model. A thesis submitted in partial fulfilment of the requirements for the. The traditional sliding surface is modified using some fuzzy rules. Discretized bounded sliding mode control for simulation of. This approach combines sliding mode control smc, linear parametervarying lpv control theory, and time delay stability analysis to solve an lpvtds control problem. Sliding mode control of photovoltaic energy conversion. This mixture confers controller sturdiness and versatility. The class of adaptive backstepping nonlinear systems has been broadened to observable minimum phase systems which are not necessarily transformable into tri angular forms. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. In the first part of the thesis, the switching frequency control system is modelled and a.
Sliding mode learning control and its applications manh tuan do submitted in total fulfilment of the requirements of the degree of doctor of philosophy faculty of science, engineering and technology swinburne university of technology melbourne, australia 2014. Dynamical modelling of a flexible motorised momentum. A nonlinear model which describes the two parts of the wind turbine, namely the twomass drive train and the pmsg was presented. Sliding mode control of an uninterruptible power supply 88 disturbances e. Finitetime sliding mode control strategies and their.
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. Many existingmethods are available for the smc design for secondorder systems. The combination of adaptive backstepping and sliding mode control has also been proposed to design robust adaptive strategies for uncertain systems with disturbances. Mishra, j 2019, finitetime sliding mode control strategies and their. Graduate thesis or dissertation slidingmode control of the. Further, integral sliding mode control method is implemented which yields better performance than the conventional sliding mode. It is observed that system response obtained are proper and satisfactory. The concept of sliding mode control is brought out through exhaustive examples of second order systems. A new control method for position tracking control of a. The brake control system has desired performance in the simulation. Problems in analysis, control, and design of switching. A neutralization process along with a mixing process are utilized to compare the performance from the new controller to what conventional sliding mode. 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 of photovoltaic energy conversion systems.
Sliding mode in discontinuity surfaces and their intersection. In this thesis, the describing function method, most suitable. However, the complex dynamical behaviours due to discretization in continuoustime smc systems have not yet been fully explored. In this thesis, a nonlinear methodology for the control of the highly maneuverable, high performance aircraft harv f18 is studied by using sliding mode control smc. A thesis submitted in partial fulfilment of the requirements for the degree of.
This thesis deals with the adaptive pid with sliding mode control adjustment of a speed control for dc motor. The integral sliding mode ism algorithm eliminates the reaching phase. Vector control of permanent magnet synchronous motors. The actuators main components consist of a double acting pneumatic cylinder and four twoway onoff valves. Adaptive backstepping and sliding mode control of uncertain. Introduction an overview of classical sliding mode control differential inclusions and sliding mode control highorder sliding modes sliding mode observers dynamic sliding mode control and output feedback sliding modes, passivity, andflatness stability and stabilization discretization issues adaptive and sliding mode control steady modes in relay systems with delay sliding mode control for. Sliding mode learning control and its applications semantic scholar. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you.
Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discretetime systems with relatively low switching frequencies. Sahu, pradeep kumar 2016 sliding mode control of photovoltaic energy conversion systems. In order to control the wheel slip, vehicle system dynamic equations are given in terms of wheel slip. It can be used only when the control signal ut can switch at high frequency. His current research interest includes sliding mode control, deadtime compensation, and fault recognition systems. The second control approach is based on the nonlinear sliding mode controller smc. Some issues in the sliding mode control of rigid robotic manipulators sanjay rao edith cowan university follow this and additional works at. A control law is proposed here for asymptotic stabilization of the resulting periodic system by the introduction of a set of subspaces to which the system state is driven, resembling sliding mode. To summarise, the objectives of this thesis are, firstly, to propose a series of new dynamical models for the motorised momentum exchange tethers.
In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. Firstly, the thesis introduces the principle of sliding mode control method. This site is like a library, use search box in the widget to get ebook that you want. Pdf sliding mode control methodology smc is as an efficient technique in. Sliding mode control and modelpredictive control algorithms are compared. The chattering problem is tackled by including actuator. In this paper, the nonlinear sliding mode control smc with mismatch. Hence, a nonlinear control strategy based on sliding mode, which is a standard approach to tackle the parametric and modeling uncertainties of a nonlinear system, is chosen for slip control. The sliding mode control smc, being famous for remarkable robust. In this thesis, we investigate the feasibility of applying sliding mode control smc, one of the best known robust control techniques, to two applications targeted drug delivery inside the human body using a ferromagnetic microrobot steered by a mri, and.
Since the secondorder sliding mode controller, for example. The rst approach is based on the linear proportionalderivativeintegral pid controller. The present thesis addresses slidingmode control of nonholonomic vehicles, and more specifically trajectory tracking, by which we mean the problem of. In sliding mode control,system has high response time and overshoot. Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion andor control mission. Control strategies for uncertain systems, submitted by. The thesis has focused on the development of control schemes for a wec system using a pmsg. Sliding mode control in engineering semantic scholar. The paper deals with c code implementation of sliding mode control into simulink environment. The objective of the present work is to stabilize the cart inverted pendulum by designing sliding mode controller. Increasing interest and investment in renewable energy give. This paper considers a sliding mode controller for a rotational inverted pendulum.
A novel cascadedproxy based sliding mode control architecture is used as the main controller. Sliding mode control of discretetime weakly coupled systemsabstract of the thesis sliding mode control of discretetime weakly coupled systems. The sliding mode control theory deals with state feedback control schemes that use switch ing control actions. The basic buck, boost, flyback, and buckboost topologies are used to illustrate the different methods of control and analysis. This is to certify that the thesis entitled adaptive second order sliding mode. The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. In this thesis sliding mode control, sliding mode observers and stability theory regarding. Sliding mode control of electromechanical systems heide brandtst. Due to sliding mode control methodology, a sliding surface is determined and. Sliding mode control theory and applications download.
Wellestablished investigations have shown that the sliding mode controller observer is a good approach from the point of view of robustness, implementation, numerical stability, applicability, ease of design tuning and overall evaluation. Moreover, some important control problems involving uncertain mechanical. Slidingmode control and modelpredictive control algorithms are compared. Current programming and sliding mode control are used to provide regulation and obtain desired dynamic responses. The application of sliding mode control is presented for dctodc converters and electrical motor drives in this thesis. Nonlinear controllers for a wind energy conversion system. The equivalent control, an analysis method of vss, is applied to obtain transfer function description. Therefore, the control input ux is chosen as a discontinuous function of the system state ux. I solemnly declare that research work presented in the thesis titled on. Sliding mode control encyclopedia of life support systems. Together, these results form an efficient discretized bounded sliding mode control approach for simulation of differentialalgebraic systems. A new linear parametervarying sliding surface is proposed to achieve.
An adaptive sliding mode control asmc scheme is proposed for the synchronization of two chaotic nonlinear systems. 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. This control law, which takes a continuous function when the input constraints are not considered, satisfies the reachability condition by which concerned states are driven to. Sliding mode control is a robust nonlinear feedback. There have been many contributions in the smc field in the last decade. Linear parametervarying sliding mode control of state. The three different controllers were designed to reach the maximum power output at different speeds. Continuous and discretetime sliding mode control design. Pdf this paper describes the synthesis and application of controller based on sliding mode theory to a quadrotor. In this dissertation report, a sliding mode controller is designed for an induction motor drive.
Synopsis of the thesis sliding mode control for power. The key idea is to apply strong control action when the system deviates from the desired behavior. The sliding mode control technique is characterized by the following features. The motivation of this controller is to introduce the lyapunov function vx.
If youre looking for a free download links of sliding mode control. The main streamline of the study is the sliding surface design for the system. Finitetime sliding mode control strategies and their applications. The theory of variable structure system and sliding mode has been developed decades ago in. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very. Out of many robust nonlinear control strategies, a further development in sliding mode control smc strategy is considered in this thesis because of its simplicity and robustness. Linear quadratic regulator optimal control techniques coupled with the robustness properties of sliding mode control are utilized to provide the necessary control reversal which occurs during the transition from cruise to hover mode.
Sliding mode control of power converters caltechthesis. The system shows the nonlinearities and uncertainties. The statefeedback control law is not a continuous function of time. An investigation of adaptive fuzzy sliding mode control. Sliding mode control of a noncollocated flexible system. Stabilization of inverted pendulum using sliding mode control. In this thesis, a cascaded proxybased controller with additional disturbance observer is developed as a solution to this control problem and to obtain high stabilization and tracking performance. Cooperative formation control of autonomous underwater. Control and analysis techniques in switched mode inversion dcac and rectification acdc are examined in this thesis.
Lin and hsus algorithm and shahnazi et avs algorithm are redesigned for robotic manipulators. This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by. The theory of variable structure systems vss, and sliding mode control form a mutually complementary analysis and design tools for the control of switched mode power converters. This is to certify that the the synopsis of the thesis titled sliding mode control for power converters with modi. Sliding mode control design sliding mode equation is of reduced order does not depend on control. This thesis explores the designs of novel sliding mode learning control scheme for a variety of complex systems that possess strong robustness with respect to. 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. The gain and band width of the controller is designed considering rotor resistance variation, model in accuracies and load disturbance, to have an ideal speed tracking. This control problem has provided scope for research. This thesis examines five adaptive fuzzy sliding mode control algorithms and their suitability for use in the control of a two degree of freedom robotic manipulator. Graduate thesis or dissertation slidingmode control of.
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. Then, design smc controller for dc motor after that design adaptive pid with smc controller then. In this thesis a new linear parametervarying sliding mode control lpvsmc approach is developed for linear parametervarying timedelayed systems lpvtds. Design is decoupled into two independent subproblems.