Advanced Sliding Mode Control for Mechanical Systems: by Jinkun Liu, Xinhua Wang

By Jinkun Liu, Xinhua Wang

"Advanced Sliding Mode keep watch over for Mechanical platforms: layout, research and MATLAB Simulation" takes readers throughout the easy options, masking the latest study in sliding mode keep an eye on. The ebook is written from the point of view of useful engineering and examines quite a few classical sliding mode controllers, together with non-stop time sliding mode keep watch over, discrete time sliding mode regulate, fuzzy sliding mode keep an eye on, neural sliding mode keep watch over, backstepping sliding mode keep watch over, dynamic sliding mode keep watch over, sliding mode regulate in keeping with observer, terminal sliding mode regulate, sliding mode regulate for robotic manipulators, and sliding mode keep an eye on for airplane. This ebook is meant for engineers and researchers operating within the box of keep watch over. Dr. Jinkun Liu works at Beijing collage of Aeronautics and Astronautics and Dr. Xinhua Wang works on the nationwide collage of Singapore.

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36) where C [c1 c2 " cn 1 1] is a 1 u n vector. 2 Sliding Mode Controller Design In order to satisfy reaching conditions of sliding mode control s ( x, t ) ˜ s ( x, t ) İ K | s |, K ! 39) where K D  K. 41) i 1 Submitting Eqs. 42) Simulation Example We choose a plant as follows: x 25 x  133u (t )  d (t ) Therefore f ( x, t ) 25 x , b 133. 10, ideal position signal is r sin (2St ), choose c 25, then we can get D 50. 40), the simulation results are shown in Fig. 24 and Fig. 25. 1 Digital Simulation of Sliding Mode Control Basic Theory In practical engineering we often use digital control.

28) (in program M 1), the simulation results are shown in Fig. 28  Fig. 30. 29) instead of switch function (in program M 2), the simulation results are shown in Fig. 31  Fig. 33. 0*sin(t); dx(1)=x(2); dx(2)=-a*x(2)+b*ut+dt; References [1] Itkis U. Control System of Variable Structure. New York: Wiley, 1976 [2] Hung JY, Gao W, Hung JC. Variable Structure Control: A Survey, IEEE Transaction on Industrial Electronics, 1993,40(1): 2  22 [3] Edwards C, Spurgeon S. com Abstract This chapter introduces several normal sliding mode controllers design, including sliding mode control based on nominal model, global sliding mode control, sliding mode control based on linearization feedback technology and sliding mode control based on low pass filter.

The equivalent control keeps the state of system on the sliding surface, while the switching control forces the system sliding on the sliding surface. 33) where b ! 0 , x  R n , u  R , d (t ) denotes external disturbance and uncertainty while we assume | d (t ) |İ D. 36) where C [c1 c2 " cn 1 1] is a 1 u n vector. 2 Sliding Mode Controller Design In order to satisfy reaching conditions of sliding mode control s ( x, t ) ˜ s ( x, t ) İ K | s |, K ! 39) where K D  K. 41) i 1 Submitting Eqs. 42) Simulation Example We choose a plant as follows: x 25 x  133u (t )  d (t ) Therefore f ( x, t ) 25 x , b 133.

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