By Jinkun Liu, Xinhua Wang
"Advanced Sliding Mode keep watch over for Mechanical platforms: layout, research and MATLAB Simulation" takes readers in the course of the easy strategies, overlaying the latest learn in sliding mode regulate. The ebook is written from the viewpoint of functional engineering and examines a variety of classical sliding mode controllers, together with non-stop time sliding mode keep an eye on, discrete time sliding mode keep watch over, fuzzy sliding mode regulate, neural sliding mode regulate, backstepping sliding mode keep an eye on, dynamic sliding mode keep an eye on, sliding mode keep watch over in response to observer, terminal sliding mode keep watch over, sliding mode keep an eye on for robotic manipulators, and sliding mode keep watch over for airplane. This ebook is meant for engineers and researchers operating within the box of regulate. 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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Additional resources for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation
2 The Structure of Control System From Fig. 1, the control consists of two controllers: sliding mode controller with respect to system Eq. 1) and T o T n is expected to be obtained. For model Eq. 2), a sliding mode controller is designed to obtain T n o T d , and T o T d . T d denotes a desired angle and T n denotes a nominal rolling angle. 3 Design of Nominal Model Suppose the desired trajectory is T d , and the nominal-model tracking error is e T n T d . e. 3) The controller is designed for the nominal model as P § · B J n ¨ h1e h2 e n T d T d ¸ Jn © ¹ From Eqs.
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. 10, ideal position signal is r sin (2St ), choose c 25, then we can get D 50.
Global sliding mode control eliminates the attaining motion phase and ensures that the whole process of system response is robust. Thus, the drawback of the traditional sliding mode variable structure which has no robustness in the attaining mode is overcome. 13) We can get T (t ) b(u (t ) d (t )) where J is the moment of inertia, b 1 ! 0, d (t ) is the disturbance. 17) where c ! 0, f (t ) is a function to be designed so as to attain at the sliding surface, and f (t ) is satisfied with the following conditions: (1) f (0) e0 ce0 ; (2) f (t ) o 0 as t o f; and (3) f (t ) is derivable.