In this article, a novel data-driven sliding mode controller for a single-input single-output nonlinear system is designed from a new perspective. In the theoretical description of sliding modes, the system stays confined to the sliding surface and need only be viewed as sliding along the surface. Additionally, because the control law is not a continuous function, the sliding mode can be reached in finite time (i.e., better than asymptotic behavior).Introduction · Control scheme · Theoretical foundation · Control design examples. The variable structure systems have some interesting characteristics in control theory. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the so-called chattering, which strongly reduces the control performance.
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|Published:||9 November 2015|
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Sliding mode control has many applications in robotics.
Elements of Sliding Mode Control Theory | Institute for Mathematics and its Applications
In particular, this control algorithm has been used for tracking control of unmanned surface vessels in simulated rough seas with high degree of success.
In particular, because actuators have delays and other imperfections, the hard sliding-mode-control action can lead to chatter, energy loss, plant damage, and excitation of unmodeled dynamics.
In the past years, an extensive literature has been sliding mode control theory to the developments of Sliding Mode Control theory.
This kind of methodology offers a number of benefits, the major of which is its robustness versus a significant class of uncertainties and disturbances. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the so-called chattering, which strongly reduces the control performance.
Only few could sliding mode control theory in practice the robust sliding mode control theory predicted by the theory. Many have concluded that the presence of chattering makes sliding mode control a good theory game, which is not applicable in practice.
- Sliding Mode Control: Theory And Applications - C Edwards, S Spurgeon - Google книги
- Sliding mode control - Wikipedia
- Chapter 4. Sliding mode control
- 4.2. Introductory example
In the next period the researchers invested most of their energy in chattering free applications, developing numerous solutions. After the introduction, the second section summarizes the mathematical foundations of sliding mode control based on the theory of the differential equations with discontinuous right-hand sides, explaining how it might be applied for control relay.
The third section shows how to apply the mathematical foundations on sliding mode control theory practical example.
Introductory example The first example introduces a problem that can often be found in the engineering practice. Assume that there is a serial L-C circuit with ideal sliding mode control theory, which can be shorted, or can be connected to the battery voltage by a transistor switch see Figure Assume that our reference signal has a significantly lower frequency than the switching frequency of the controller.
Thus we can take the reference signal as constant. L-C circuit Assume that we start from an energy free state, sliding mode control theory our goal is to load the capacitor to the half of the battery voltage by switching the transistor.