Xiii sliding mode control vadim utkin encyclopedia of life support systems eolss design. Sliding mode control in electromechanical systems, 1999. 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 for systems with slow and fast modes. This method had opened new research areas from purely theoretical domains to practical applications. On outputbased sliding mode control design using minimax. Utkin is an author and coauthor of 5 books and 300 papers. Two different methods to address this issue can be found in the literature. Design is decoupled into two independent subproblems. A high order sliding mode control with pid sliding surface arxiv. Extended state observerbased adaptive dynamic sliding. 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.
Sliding mode control of an uninterruptible power supply 88 disturbances e. Designing robust control by sliding mode control technique. Pdf sliding mode control on electromechanical systems. 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. 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. The proposed approach ensures a dynamical adaptation of the control gain in order to be as small as. Sliding mode control smc is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. A system using a sliding mode control strategy can display robust performances against parametric and exogenous disturbances under the matching condition drazenovics condition. 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.
The statefeedback control law is not a continuous function of time. The major advantage of sliding mode is low sensitivity to plant parameter variations and disturbances which eliminates the necessity of exact modeling. 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. This paper investigates the novel sliding mode control design with state derivative output feedback in nontraditional reciprocal state space rss form. Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. The book is devoted to systems with discontinuous control. Sliding mode control and fuzzy sliding mode control for dc. But this type of control was often criticized because of the chattering problem caused by the discontinuous control. Robustness, stability, and implementation issues giorgio bartolini. Sliding mode control in electromechanical systems utkin pdf email. Shi proposed an improved sliding control method named integral sliding mode control ismc. Save up to 80% by choosing the etextbook option for isbn. Sliding mode control encyclopedia of life support systems. Stephen yurkovich, xiaoqiu li, in the electrical engineering handbook, 2005.
Stability analysis of slidingmode feedback control 3 book. Sliding mode existence and ideal sliding dynamics in order to analyze the closedloop behavior it is necessary to understand the dynamics in sliding modes. 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. 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 an overview sciencedirect topics. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. The control task of the presented power level controller is to follow the desired power p d by regulating control rod speed. Sliding mode control has for many years been recognized as one of the. 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. Road map for sliding mode control design vadim utkin springer. He is an author of five books and more than 300 technical papers. Member, ieee abstract this paper presents a guide to sliding mode control for practicing control engineers.
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. The research in this area was initiated in the former soviet union about 40 years ago, and the sliding mode control. Sliding mode control in electromechanical systems 2nd ed. Professor utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Sliding mode control enables the decoupling of the overall system motion into independent partial components of lower dimension and, as a result, reduces the complexity of feedback design.
Sliding mode control in electromechanical systems, 1999, 338 pages, vadim utkin, juergen guldner, ma shijun, 0748401164, 9780748401161, crc press, 1999. It can be used only when the control signal ut can switch at high frequency. Sliding mode control in electromechanical systems utkin. Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by. 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. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. The basic concepts, mathematics, and design aspects of variablestructure systems as well as those with sliding modes as a principle operation mode are treated. Novel switching function and approaching condition based on the derivative of sliding surface are introduced. This second edition includes new results that have been achieved in smc throughout the past decade relating to both control design methodology and applications. 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 of electromechanical systems heide brandtst. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied. Sliding mode control in electromechanical systems, 1999, 338. Sliding mode control with state derivative output feedback.
Modeling, analysis and control john lygeros, claire tomlin, and shankar sastry december 28, 2008. In contrast with conventional sliding mode control, the system motion under integral sliding mode has a dimension equal to that of the state space. Sliding mode control and fuzzy sliding mode control for dcdc. Sliding mode observers historical background and basic. This paper presents an adaptive sliding mode controller to stabilize a cartinverted pendulum. 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. Sliding mode control in electromechanical systems utkin v. 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 design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Sliding mode control, pid controller, chattering phenomenon, nonlinear system. Sliding mode control in electromechanical systems 2nd edition by vadim utkin and publisher routledge. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. The motivation of this controller is to introduce the lyapunov function vx. The original sliding mode controller had required high frequency switching around the. Pdf sliding mode control design principles and applications to. Zlnober this paper presents sufficient conditions for the sliding mode control of a system with disturbance input. Times and again, this problem has been approached by mathematicians, physicists and engineers, each. Sliding mode control in electromechanical systems automation and control engineering. 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 modes in control and optimization springerlink. 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.
Sliding mode control smc is a nonlinear control technique derived from variable structure control system theory and developed by vladim utkin. Pdf adaptive sliding mode controller for an inverted. 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. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Chattering suppression methods in sliding mode control. The term sliding mode control comes from the theory of variablestructure systems, specifically. Sliding mode control design based on ackermanns formula. Automation and control engineering series by vadim utkin. The main obstacles for application of sliding mode control are two. 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 in electromechanical systems utkin pdf. Ieee transactions on automatic control 45 9, 17111717, 2000. This second edition includes new results that have been achieved in smc throughout the. Discussion aspects of highorder sliding mode control ieee xplore.
Abstractthis technical note discusses to what extent the high order sliding mode control may serve as an alternative to the con. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. Unesco eolss sample chapters control systems, robotics and automation vol. 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 crc. Sliding mode control in electromechanical systems taylor. Description this dissertation addresses the problems of sliding mode control for systems with slow and fast dynamics. 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. A control engineers guide to sliding mode control k. Abstractthe paper deals with the basic concepts, mathemat ics, and. It offers an accurate assessment of the socalled chattering phenomenon, catalogs. The domain of sliding mode motion is particularly investigated and the usefulness of the regular form is pointed out.
Currently he is a professor at ohio state university. The key idea is to apply strong control action when the system deviates from the desired behavior. For example, slidingmode control drives a sliding surface. Sliding mode control in electromechanical systems request pdf. He is the author or coauthor of five books and 350 papers. Utkin is one of the originators of the concepts of variable structure systems and sliding mode control. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. Dec 19, 2017 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. Utkin, variable structure systems with sliding modes, ieee. Sliding mode control in electromechanical systems 2nd. His application interests are control of power converters and electric drives, robotics, and automotive control. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage.
Sliding mode control lecture 2 urduhindi introduction. 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. This cited by count includes citations to the following articles in scholar. 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. The main theoretical advantage of sliding mode control is its insensitivity to the socalled. Sliding mode control design principles and applications to electric drives. The sliding mode control technique is characterized by the following features. Sliding mode control in electromechanical systems, second.
Pdf the first sliding mode control application may be found in the papers back in the. Sliding mode control in electromechanical systems automation and control engineering utkin, vadim, guldner, juergen, shi, jingxin on. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. I on multiinput chatteringfree secondorder sliding mode control. Sliding mode controller design sliding mode control is a special version of an ono control. Sliding mode control implies that control actions are discontinuous state functions which may easily be implemented by conventional power converters with. Road map for sliding mode control design vadim utkin. The strengths of sliding mode controllers result from the ease and flexibility of the. Chapter 7 is dedicated to stability and stabilization. Speed controller of induction motor by using sliding mode. The invariance property of sliding mode control is partially preserved in the sense that the system trajectories are confined to a.
Pdf sliding mode control design principles and applications. Amir iqbal bhatti introduces sliding mode control with some mathematical background. View the article pdf and any associated supplements and. 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.
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