A modelfree control algorithm derived using the sliding. Sliding mode control is a robust nonlinear control algorithm that has been used to implement tracking controllers for unmanned aircraft systems that are robust to modeling uncertainty and exogenous disturbances, thereby providing excellent performance for autonomous operation. Sliding mode control ppt final control theory servomechanism. Sliding mode control design principles and applications to electric drives vadim i. Celal batur, my advisor for his mentoring, guidance, and support throughout the research and writing of this thesis. A significant advance in the application of sliding mode control for unmanned aircraft systems would be adaptation of.
I second order sliding mode control under switching gain form. For the sake of comparison, classical sliding mode control is contrasted with the proposed lmibased nonlinear sliding mode control methodology. The satellite uses 4 reaction wheels in a tetrahedron con. In this work, a model free sliding mode control scheme is derived and applied to linear and nonlinear systems that is solely based on observable measurements and therefore does not require a theoretical system model in developing the controller form. Sliding mode control of discretetime weakly coupled systemsabstract of the thesis sliding mode control of discretetime weakly coupled systems. 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.
Fixedswitching frequency sliding mode control applied to power converters. This thesis deals with the development of a hysteresis band controller. Sliding mode control smc consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. In order to maximize the power generation from solar panels, perturbandobserve maximum power point tracking algorithm is applied. A thesis submitted in partial fulfillment of the requirements for the degree of. In this thesis, the describing function method, most suitable. 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. The controlled converters is simulated and studied for the effectiveness of the proposed control algorithms and good consistency is achieved.
In this dissertation report, a sliding mode controller is designed for an induction motor drive. Development of robust control based on sliding mode for nonlinear. This thesis presents a novel power electronics sliding mode control design for photovoltaic energy conversion systems. This thesis first proposed a robust high order sliding mode controller for pmsm. A modelfree control system based on the sliding mode control. The key idea is to apply strong control action when the system deviates from the desired behavior. One particular approach to robust controller design is the socalled sliding mode control technique. Sliding mode control of an uninterruptible power supply 88 disturbances e. Investigations of modelfree sliding mode control algorithms. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. It is used when the robustness requirement is of utmost importance in vehicle applications and in the presence of strong uncertainties 129. This has led to intense interest in the development of the socalled robust control methods which are supposed to solve this problem. In this thesis an attitude control system has been designed for a cubesat satellite.
Sliding mode control smc is basically a highspeed switching. The developed method does not require a mathematical model of the dynamic system. 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. This paper presents basic sliding mode control theory, so i will use the 2 nd ordered siso canonical. In the past such converters were being modelled using the state space averaging method. The higher order sliding mode control is an expansion of the conventional sliding mode, and it can cancel the imperfection of the conventional sliding mode methodology and sustain its advantages. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. It is shown that the main advantages of sliding mode control are order reduction. This thesis is brought to you for free and open access by the. Switched mode power converters are being used extensively for the purpose of efficient power conversion.
Then, we will formulate and prove important properties of the proposed control strategy. The statefeedback control law is not a continuous function of time. Sliding mode control an overview sciencedirect topics. Analysis and implementation of discretetime sliding mode control. Instead, knowledge of the systems order, state measurements, and control input gain matrix shape and bounds are assumed to develop the control law and drive the systems. Ordinary sliding mode control requiresa linear nominal model from which perturbations, unmodelled and nonlinear dynamics, are excluded as affine terms. Sliding mode control in engineering semantic scholar. This thesis studies the application of sliding mode control to modelbased reinforcement learning. Feedback control may be defined as the use of various signals that are determined by comparing the actual values of the system variables to their desired values, as a means of a control system. Emphasis is placed upon presenting a constructive theoretical framework to facilitate practical design. This thesis is brought to you for free and open access by the thesisdissertation collections at rit scholar works. 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 state observers have been the focus of research in the. Pdf sliding mode control methodology smc is as an efficient.
Design and implementation of sliding mode controller for. Sliding mode control method with estimation of control input error thesis. 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. In this work, a modelfree sliding mode control technique for linear and nonlinear uncertain multiinput multioutput systems is proposed. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. Direct modeling and robust control of a servo pneumatic. Sliding mode controller design sliding mode control is a special version of an ono control. Research of nonlinear system high order sliding mode control and. A radius basic function neural networkbased less chattering sliding mode controller nnlsmc is designed. Such converters are nonlinear, time variant systems. The book is devoted to systems with discontinuous control.
The sliding mode control smc, being famous for remarkable robust. The developments are illustrated with numerical examples throughout. An adaptive sliding mode control asmc scheme is proposed for the synchronization of two chaotic nonlinear systems. In this thesis, novel sliding mode control methods are developed for maximum torque per ampere and maximum power per ampere control of interiormounted permanent magnet synchronous motors. Sliding mode control is based on variable structure systems composed with independent structures. The motivation of this controller is to introduce the lyapunov function vx. 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 smc, process control, variable. Integral sliding mode fault tolerant control schemes with. The theory of variable structure systems vss, and sliding mode control form a mutually complementary analysis and design tools for the control of. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem. Design is decoupled into two independent subproblems. If youre looking for a free download links of sliding mode control. The proposed schemes are resilient against model uncertainties and external disturbances.
Designing robust control by sliding mode control technique. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. 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. Moreover, some important control problems involving uncertain mechanical. In this thesis new integral sliding mode ism control allocation schemes for ftc are proposed, which have the potential to maintain the nominal fault free performance for the entire system response, in. Computer simulation results demonstrate that sliding mode control is viable in the setting of. This collection of poems in free verse is an exploration of all the different meanings of the word independence january 1998 original writing. Models for the satellite, disturbances and actuators are derived and in term used for simulation and design of the control algorithms. The main objective of this thesis is to develop robust sliding mode control. Model free, sliding mode control, multiinput multioutput, actuator dynamics, quadrotor 1.
Presented in partial fulfillment of the requirements for the degree master of. The concept of the sliding mode functional observers is an area that is untouched by previous research. Incremental sliding mode flight control request pdf. The sliding mode controller performed well during the experiments and simulations. Introduction in nonlinear control theory, sliding mode control is a robust control system capable of handling systems with modelling inaccuracies and outside disturbances. A novel cascadedproxy based sliding mode control architecture is used as the main controller. Sliding mode control is an area of increasing interest in control engineering. Fixedswitching frequency sliding mode control applied to power converters iii. 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. A new type of sliding mode controller scheme, which requires no knowledge of system model, is derived in this. The twl algorithm also offers a solution to estimate the time derivative of a sample. Next, we will select the parameters of the sliding hyperplane in order to minimize an lq criterion. Hirschorn abstractthe purpose of this paper is to present a framework for the design of sliding mode based controllers for multiinput af.
The sliding mode control drives the output voltage to the preferred dc level in the existence of external disturbances and internal parameter uncertainties providing a value of power factor close to unity. Sliding mode control of power converters caltechthesis. We will begin with deriving a general form of the sliding mode controller. Finally, the modelfree control algorithm was implemented on a. A modelfree control algorithm based on the sliding mode control. I solemnly declare that research work presented in the thesis titled. Dynamics modelling and sliding mode control design with. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design.
Modelfree sliding mode control algorithms including application. A modelfree control system based on the sliding mode. Modelfree control, sliding mode control, robust control, flight control. A thesis submitted in partial fulfilment of the requirements for the degree of. On multiinput chattering free second order sliding mode controlj. Sliding mode control theory seeks to produce controllers to over some such mismatches. Budapest university of technology and economics department of mechatronics, optics and engineering informatics direct modeling and robust control of a. Sliding mode learning control and its applications. Sliding modes in control and optimization springerlink.
Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control. Sliding mode controller for 3phase boost rectifier circuit. 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. Since the secondorder sliding mode controller, for example.
We are currently experiencing issues regarding the readability of pdf files in the chrome and firefox browsers, and adobe reader. However, the derivation of the sliding mode control law is tedious. An application of sliding mode control to modelbased. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. In this thesis, 2 types of adaptive sliding mode controller able to handle the uncertainties are designed to control the motions of both the manipulators joints and the spacecraft base. This thesis addresses this problem proposing an approach that consists of. 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. Sliding mode controllers are robust to system disturbance and modelling errors, and have been widely used for highorder nonlinear system control. The main argu ments in favor of sliding mode control are order reduction. Due to sliding mode control methodology, a sliding surface is determined and. Modelfree, sliding mode control, multiinput multioutput, actuator dynamics, quadrotor 1. Sliding mode control design principles and applications to. 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 method is proved to be robust against disturbances and discrepancies between the.
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