Sliding mode control of electromechanical systems heide brandtst. So there has existed a gap between the design and realized control system. Discretetime terminal sliding mode control systems based. Sliding mode control encyclopedia of life support systems. The behavior of the discretetime sliding mode controller for linear, nonlinear, and stochastic systems was investigated by su et al. In this paper, dynamical behaviors of the discretetime slidingmodecontrol dsmc uncertain systems are studied. Some ultimate bounded stability analyses and stabilization conditions are provided for the uncertain time delay system with proposed discrete time sliding mode control strategy. However, the complex dynamical behaviours due to discretization in. The design combines the features of discrete time low order repetitive control rc and sliding mode control smc. A new discretetime slidingmode control scheme is proposed for linear timeinvariant lti systems.
Sliding mode congestion controller for data transmission. After giving a kind of time varying sliding mode function, a sliding mode prediction model is used to predict the future information of sliding mode. A modelfree control algorithm derived using the sliding mode. B oth continuous and discrete time sliding mode controllers driv e the system state its representative point onto a pre defined hypersurface in the state space. This paper considers the problem of robust discretetime slidingmode control dtsmc design for a class of uncertain linear systems with timevarying delays. Koshkouei and zinober introduced the notation of the sliding lattice and clarified the concept of discrete time sliding mode control dsmc. In this paper, a discretetime sliding mode controller for linear timevarying systems with disturbances is proposed. Discretetime integral sliding mode control of a smart. 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. Dcdc converter systems have drawn extensive research attentions and shown upward tendencies for industrial and military applications. A considerable amount of work has been done analyzing discrete time sliding modes 1017. Theoretical analysis shows that the discrete time terminal sliding mode control method can offer a higher output tracking precision. The analysis brings forward important advancements in the direction of discrete.
Firstly, the switching type and nonswitching type algorithms developed for the deterministic type fractional delay where the delay is compensated using thirans approximation technique. Professor zoran gaji c sliding mode control is a form of variable structure control which is a powerful tool to cope with external disturbances and uncertainty. Discretetime slidingmode control of uncertain systems with. The method described in this paper of developing a modelfree sliding mode control scheme has not been discussed.
Communication networks, reaching law approach, discretetime sliding mode control. Model reference discretetime sliding mode control of linear motor precision servo systems. Moreover, sliding mode dynamics of the discretetime system in and out the vicinities of the sliding surface is analysed in detail. The motivation of this controller is to introduce the lyapunov function vx. Highprecisionmotioncontrolbased on a discretetime sliding. University of groningen adaptive switching gain for a. Analysis and implementation of discretetime sliding mode. First, a discrete reaching law with a disturbance compensator is presented, and a slidingmode controller is designed by using the proposed reaching law. Franck plestan, yuri shtessel, vincent bregeault, alexander poznyak. It is shown that the main advantages of sliding mode control are order reduction. It also covers basic concepts of mimo systems in chapter 2 which makes it a self sufficient guide for sliding mode. Analysis and implementation of discretetime sliding mode control.
Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control. The key idea is to apply strong control action when the system deviates from the desired behavior. Experimental evaluation of the robustness of discrete sliding mode control versus linear quadratic control. In this work, a shape memory alloysma actuator based joint smart joint is controlled using a discrete time integral sliding mode dism control to guide the motion of an active catheter. Sliding mode controller design sliding mode control is a special version of an ono control. This paper proposes a sensorless vector control that combines two discretetime observers to estimate the rotor speed and position of permanent magnet synchronous machines pmsm. The purpose of this paper is to show that a modelfree sliding mode control scheme can achieve. A low order rc is employed to compensate periodic disturbance by targeting specific frequency component of the disturbance. Sliding mode control of discrete time weakly coupled systems by prashanth kumar gopala thesis director. Spurgeon abstractthis paper discusses the design of a static output feedback based sliding mode controller for mimo nonminimum phase discrete time systems. Comparison between explicit and implicit discretetime. The sliding mode control has been designed for a continuous system, but it is realized by a digital control system. Discretetime sliding mode control design for linear time. Even after 12 years of its publication, the book is in must read category.
This paper focuses on the discrete time sliding mode control prob lem, that is, given an uncertain linear system under the e ect of external matched p erturbations, to design a set valued control law that achieves the robust regulation of the plant and at the same time reduces. Sliding mode control for uncertain discretetime systems. Nonswitching reaching law based discrete time quasisliding. Discrete time integral sliding mode control of a smart joint for minimally invasive surgeries abstract. Discretetime sliding mode control of a dc motor and ball. Linear matrix inequality based static output feedback sliding mode control for discrete time systems srinath govindaswamy, thierry floquet, and sarah k. The present invention provides a method and apparatus for improving the control response of a control system in light of external vibration and mechanical shock inputs through the use of discrete time sliding mode control with variable parameters hereinafter also referred to as dsmcvp. The first one is a sliding mode dsm current observer and the second one is an adaptive electromotive force emf observer. In the paper the problems of sliding modes simulation and sliding mode digital control design ere considered. New methodologies for adaptive sliding mode control.
Citeseerx scientific documents that cite the following paper. To avoid the chattering problem in the reachinglawbased discretetime sliding mode control dsmc and the generation of overlarge control action in the equivalentcontrolbased dsmc, a new dsmc. To avoid the chattering problem in the reachinglawbased discrete time sliding mode control dsmc and the generation of overlarge control action in the equivalent control based dsmc, a new dsmc. Its main drawback is the existence of the socalled chattering phenomenon. To minimize the degenerative effects of the time delay, a simpler format of state predictor is proposed in the control law. The proposed method guarantees that the system state is globally uniformly ultimately bounded g. The first one is a sliding mode dsm current observer and the second one. Discretetime fast terminal sliding mode control design for dcdc buck converters with mismatched disturbances abstract.
Discretetime sliding mode control for uncertain networked. In this technical note, the dynamical behaviors of discrete time terminal sliding mode control systems based on eulers discretization is investigated. Discrete time sliding mode control, linear time varying systems, steering control, highway vehicle. This paper proposes a sensorless vector control that combines two discrete time observers to estimate the rotor speed and position of permanent magnet synchronous machines pmsm. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discrete time systems with relatively low switching frequencies.
Robust high order sliding mode control of permanent magnet. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have become important topics. Comparisons between implicit and explicit discretetime. 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. Kharaajoo, discretetime sliding mode control design for linear timevarying systems. Timevarying sliding mode control for discretetime nonlinear. By applying a descriptor model transformation and moons inequality for bounding cross terms. Much less is known of discretetime sliding mode controllers, in. To avoid the chattering problem in the reachinglawbased discrete time sliding mode control dsmc and the generation of overlarge control action in the equivalent control based dsmc, a new dsmc method based on nonsmooth control is proposed in this paper. This work deals with sliding mode control of discrete.
A modelfree control algorithm derived using the sliding. A considerable amount of work has been done analyzing discretetime sliding modes 1017. Discrete time sliding mode control of a dc motor and ballscrew driven positioning table. Discretetime fast terminal sliding mode control design. Model reference discrete time sliding mode control of linear motor precision servo systems. Pai 2009 proposed a technique to accurately track uncertain linear systems using a discretetime integral sliding mode control.
Based on a recursive analysis, the boundedness for the steady states of the system is established. In this paper, a discrete time sliding mode controller for linear time varying systems with disturbances is proposed. This paper treats the sliding mode control for a discrete system, where the sampling interval of the digital control is considered. Discretetime sliding mode control, linear timevarying systems, steering control, highway vehicle. Analysis and implementation of discretetime sliding mode control olivier huber to cite this version. Most of the proposed control strategies use, in one or another way, the calculation or estimation of the discrete time equivalent control explicitly, which. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Most of the proposed control strategies use, in one or another way, the calculation or estimation of the discretetime equivalent control explicitly, which. Simulation results reveal the efficiency of proposed controller. Technical committee on variable structure and sliding mode. Us6046878a object positioning using discrete sliding mode. Comparison between explicit and implicit discretetime implementations of slidingmode controllers olivier huber, vincent acary and bernard brogliato abstractdifferent timediscretization methods for slidingmode control smc are presented. Experimental comparisons between implicit and explicit. The design combines the features of discretetime low order repetitive control rc and sliding mode control smc.
New methodologies for adaptive sliding mode control franck plestan, yuri shtessel, vincent bregeault, alexander poznyak to cite this version. In this paper, a novel timevarying sliding mode control smc algorithm based on sliding mode prediction for a class of discretetime nonlinear uncertain coupled systems is presented. Discretetime sliding mode control with a disturbance. This paper treats the sliding mode control for a discrete system, where the sampling interval. This book presents novel algorithms for designing discretetime sliding mode controllers dsmcs for networked control systems ncss with both types of fractional delays namely deterministic delay and random delay along with different packet loss conditions such as single packet loss and multiple packet loss that occur within the sampling period. Discretetime sliding mode control for networked control. A modified discretetime sliding surface is proposed to derive the discretetime sliding mode control algorithms. The book covers continuoustime sliding mode control and estimation problems. Rijksuniversiteit groningen founded in 1614 top 100 university. The behavior of the discrete time sliding mode controller for linear, nonlinear, and stochastic systems was investigated by su et al.
Chatteringfree discretetime sliding mode control request pdf. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. Discrete time fuzzy sliding mode control of unknown. Pai 2009 proposed a technique to accurately track uncertain linear systems using a discrete time integral sliding mode control. Therefore, the presented method is capable of further mitigating chattering and guaranteeing a further improvement on the control accuracy in comparison with previous reaching law methods. Reports on the activities of the cs technical committee on variable structure and sliding mode control. Dynamics of discretetime slidingmodecontrol uncertain. Sliding mode control of a discrete system sciencedirect. Linear matrix inequality based static output feedback sliding. To avoid the chattering problem in the reachinglawbased discretetime sliding mode control dsmc and the generation of overlarge control action in the equivalentcontrolbased dsmc, a new dsmc method based on nonsmooth control is proposed in this paper.
Continuoustime sliding mode control has been extensively studied and have been applied to various applications. After giving a kind of timevarying sliding mode function, a sliding mode prediction model is. Discretetime sliding mode control of high precision linear. Discretetime sliding mode observer for sensorless vector. Utkin institute of control sciences, moscow, ussr abstract. Denker, discretetime sliding mode control in presence of system. Dynamics of discretetime slidingmodecontrol uncertain systems with a disturbance compensator shaocheng qu, member, ieee, xiaohua xia, fellow, ieee, and jiangfeng zhang abstractin this paper, dynamical behaviors of the discretetime slidingmodecontrol dsmc uncertain systems are studied. With the increasing use of computers and discrete time samplers in controller implementation in the recent past, discrete time systems and computer based control have become important topics. Time sliding mode control with outputs of relative.
Adaptive discrete second order sliding mode control with. Koshkouei and zinober introduced the notation of the sliding lattice and clarified the concept of discretetime sliding mode control dsmc. Discretetime sliding mode controller for linear timevarying. Setvalued discretetime slidingmode control of uncertain. Experimental evaluation of the robustness of discrete sliding. The design and implementation of variable structure control systems in discrete time have later been considered, and still the framework of discrete time sliding mode control. The present invention provides a method and apparatus for improving the control response of a control system in light of external vibration and mechanical shock inputs through the use of discretetime sliding mode control with variable parameters hereinafter also referred to as dsmcvp. The simulation problem of the dynamic systems with discontinuous 2ighthand side is a nontraditional one. Proceedings of the ieee international conference on, on pages. Some ultimate bounded stability analyses and stabilization conditions are provided for the uncertain time delay system with proposed discretetime sliding mode control strategy. In this paper, a novel time varying sliding mode control smc algorithm based on sliding mode prediction for a class of discrete time nonlinear uncertain coupled systems is presented.