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

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By Jinkun Liu, Xinhua Wang

"Advanced Sliding Mode keep watch over for Mechanical structures: layout, research and MATLAB Simulation" takes readers in the course of the simple recommendations, overlaying the newest learn in sliding mode keep watch over. The e-book is written from the point of view of sensible engineering and examines a variety of classical sliding mode controllers, together with non-stop time sliding mode regulate, discrete time sliding mode keep watch over, fuzzy sliding mode keep an eye on, neural sliding mode keep an eye on, backstepping sliding mode keep an eye on, dynamic sliding mode keep an eye on, sliding mode regulate in response to observer, terminal sliding mode keep watch over, sliding mode keep an eye on for robotic manipulators, and sliding mode keep an eye on for airplane. This booklet is meant for engineers and researchers operating within the box of keep an eye on. 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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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. 4) 2 Normal Sliding Mode Control § B · In order to make the system stable, s 2  ¨ h2  n ¸ s  h1 must be Hurwitz . Jn ¹ © For k ! 0, let the eigenvalue be k . e. h2 2k  n , h1 k 2 . Therefore, Jn Jn we can get h1 and h2 . 5) where J m is the minimum value of J, J M is the maximum value of J, Bm is the minimum value of B, BM is the maximum value of B, and d M is the maximum value of d.

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.

25) where f and g are known nonlinear functions, u  R and y T  R are the control input and measurement output respectively. d 0 (t ) is the disturbance, and | d (T ,T , t ) |İ D, D is a positive constant. Let d (T ,T , t ) 'f (T ,T )  'g (T ,T )u  d 0 (t ), therefore, Eq. 2 Controller Design Let desired position input be T d , and e T d  T . 27) where c ! 0. 28) 6elect the Lyapunov function as L 1 2 s 2 Therefore, we have L ss s (T d  f  gu  d  ce) s (T d  f  ( f  T d  ce  K sgn ( s ))  d  ce) s (d  K sgn ( s ))  sd  K | s | If K ı D, then L  sd  K | s |İ 0 19 Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation In order to restrain the chattering phenomenon, the saturated function sat( s ) is adopted instead of sgn( s ) in Eq.

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