Sliding Mode Control and Observation (Control Engineering) by Yuri Shtessel, Christopher Edwards, Leonid Fridman, Arie

By Yuri Shtessel, Christopher Edwards, Leonid Fridman, Arie Levant

The sliding mode keep an eye on technique has confirmed powerful in facing complicated dynamical structures laid low with disturbances, uncertainties and unmodeled dynamics. strong regulate expertise in keeping with this system has been utilized to many real-world difficulties, particularly within the parts of aerospace keep watch over, electrical energy platforms, electromechanical platforms, and robotics. Sliding Mode keep watch over and statement represents the 1st textbook that starts off with classical sliding mode regulate recommendations and progresses towards newly constructed higher-order sliding mode regulate and remark algorithms and their applications.

The current quantity addresses various sliding mode keep an eye on concerns, including:

* traditional sliding mode controller and observer design
* Second-order sliding mode controllers and differentiators
* Frequency area research of traditional and second-order sliding mode controllers
* Higher-order sliding mode controllers and differentiators
* Higher-order sliding mode observers
* Sliding mode disturbance observer established control
* a number of purposes, together with reusable release car and satellite tv for pc formation keep watch over, blood glucose law, and motor vehicle guidance keep an eye on are used as case studies

Sliding Mode regulate and remark is geared toward graduate scholars with a uncomplicated wisdom of classical regulate thought and a few wisdom of state-space tools and nonlinear structures, whereas being of curiosity to a much wider viewers of graduate scholars in electrical/mechanical/aerospace engineering and utilized arithmetic, in addition to researchers in electric, desktop, chemical, civil, mechanical, aeronautical, and commercial engineering, utilized mathematicians, keep watch over engineers, and physicists. Sliding Mode keep an eye on and remark presents the mandatory instruments for graduate scholars, researchers and engineers to robustly keep an eye on complicated and unsure nonlinear dynamical structures. routines supplied on the finish of every bankruptcy make this a fantastic textual content for a complicated direction taught on top of things idea.

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Extra info for Sliding Mode Control and Observation (Control Engineering)

Example text

83) is a second-order sliding mode control, since it drives both ; P ! 0 in finite time. 83) is continuous since both c j j sign. / and the term w D b sign . / dt are continuous. Now, the high-frequency switching term sign . / is “hidden” under the integral. 10. 2t/, which is used for simulation purposes only, which illustrate the super-twisting control concept for output tracking, are presented in Figs. 38. 61) is computed using simple numerical differentiation, although the sliding mode differentiator studied in Sect.

To zero assuming both i and ! are measurable and all parameters are known. 0/ D 0. Plot the time histories of the sliding variable, the control function u, the current i , and the angular speed !. 7. t/ is measured. t/ ! t/. Simulate the control system. , the current i and its estimate {O. 8. 6 and design a second-order sliding mode control law u in the form of super-twisting control. Simulate the control system. , and the current i . 9. t/ ! t/, where ! t/ is an angular speed command given in current time.

32) A control function that satisfies Eq. 4. 1) after reaching the sliding surface D 0, to ensure that the system trajectory stays on the surface thereafter, is called the equivalent control. 1) as soon as the sliding surface is reached. x1 ; x2 ; t/ is not known and appears explicitly in Eq. 33). 1). The average can be achieved via low-pass filtering (LPF) of the high-frequency switching term sign. 19). sign. 34) For instance, the LPF can be implemented as a first-order differential equation zP D z C sign.

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