University of sfax, national engineering school of sfax enis, laboratory of sciences. Utkin abstract a solution to the problem of eliminating the chattering effect, which is always associated with practical implementations of variable structure control, is presented in this paper with reference to a. Zinober department of applied mathematics, the university of sheffield, sheffield 510 2tn, uk abstract. Adaptive output tracking backstepping sliding mode control of.
Mar 10, 2015 at above rated wind speed, the aim is to maintain the rated power by using pitch control. Adaptive output tracking backstepping sliding mode control. Sliding mode control smc is a special nonlinear control method with advantages such as fast response, strong robustness and simple realization. It is well known for their stability and robustness against parameters, line and load variation. A new robust sliding mode controller smc is proposed to improve the performance under internal model uncertainty and external disturbance conditions. Adaptive sliding mode control based on uncertainty and. Dynamic secondorder sliding mode control of the hovercraft. It can be used only when the control signal ut can switch at high frequency. The control was developed for a class of nonlinear systems which can be converted to the semiparametric strict form.
This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Moreover, some important control problems involving uncertain mechanical. Introduction slidingmode control smc was presented by utkin in 1977 in the international literature that was previously developed in russia 1.
Sliding mode control of an uninterruptible power supply 88 disturbances e. In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Optimal terminal slidingmode control for secondorder motion systems. Application backgroundsliding mode control is a robust and strong operation for controlling nonlinear dynamicsof systems that are usually used in engineering and other applications. The combination of adaptive backstepping and sliding mode control has also been proposed to design robust adaptive strategies for uncertain systems with disturbances. Sliding mode pi control with backstepping approach for. Nonlinear attitude and position control of a micro. At above rated wind speed, the aim is to maintain the rated power by using pitch control. The control method combines both the merits of backstepping control and sliding mode robust control. Backstepping control design involves a systematic construction of both. We propose two strategies, namely, sliding mode control smc and the active disturbance rejection control adrc.
Sliding mode control of induction motor using simulation approach r. The continuity and monotonicity of the sliding surface are proved. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Ifac robust control design, prague, czech republic, 2000 adaptive output tracking backstepping sliding mode control of nonlinear systems ali jafari koshkouei and aian s. Sliding mode control of induction motor using simulation approach. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The motivation of this controller is to introduce the lyapunov function vx. However, the sliding mode control will bring in inevitable system chattering, which makes the presentday research on the application of. Backstepping algorithm with sliding mode control for input. In bsmc, generator torque is considered as the control input that depends on the optimal rotor speed. By using this method, the system not only can guarantee that the tracking errors reach.
Introducing a proper sliding surface is an important step in the design of sliding mode controllers. Sliding mode backstepping control for the flexible manipulator. In this dissertation report, a sliding mode controller is designed for an induction motor drive. The sliding mode control technique is characterized by the following features. A novel sliding mode control for a class of affine dynamic systems. Due to inherent insensitivity characteristic of sliding mode control smc 1, 2 an undesirable oscillation known as chattering occurs that affects the dynamical system. Comparison of backstepping and sliding mode control. Pdf download for combination of integral sliding mode control. The class of adaptive backstepping nonlinear systems has been broadened to observable minimum phase systems which are not necessarily transformable into tri angular forms. Sliding mode control theory seeks to produce controllers to over some such mismatches. Based on a nonlinear disturbance observer, a backstepping sliding mode robust control is proposed for a wiredriven parallel robot wdpr system used in the wind tunnel test to dominate the motion of the end effector.
Control design for the quadrotor is more tractable yet reveals corresponding approaches for helicopter and uav control design. This paper presents a comparative study of backstepping control, adaptive backstepping control and adaptive backstepping sliding mode control on roll channel of launch vehicle. This study gives the mathematic model of a quadrotor unmanned aerial vehicle uav and then proposes a robust nonlinear controller which combines the slidingmode control technique and the backstepping control technique. Fpgabased implementation sliding mode control and nonlinear. Table of content solo slide mode control smc 2 sliding mode control introduction control statement of sliding mode existence of a sliding mode reachability. In this paper, sliding mode control in a backstepping framework sbc. What are the good resources to learn about sliding mode control. The synthesis of a control algorithm that stirs a nonlinear system to a given manifold and keeps it within this constraint is considered. Pdf sliding mode control based on backstepping approach.
Ramazan coban, department of computer engineering, cukurova university, 030 adana, turkey. This paper presents the comparative performance results of quadrotor under two control. This paper presents the control of wt at below rated wind speed by using backstepping sliding mode control bsmc. The control of nonlinear systems is provided by either linearizing the systems or using a nonlinear control technique, such as sliding mode control smc. Sliding mode control of induction motor using simulation. A thesis submitted in partial fulfilment of the requirements for the degree of. In this paper the method of design has benefited from both design approaches. Sliding order and sliding accuracy in sliding mode control. Sliding mode pi control with backstepping approach for mimo nonlinear cross. Sliding mode control in backstepping framework for a class. Sliding mode controller design sliding mode control is a special version of an ono control.
Integral backstepping integral sliding mode control of underactuated nonlinear electromechanical systems article pdf available in control engineering and applied informatics 2. Integral backstepping sliding mode control for underactuated. This paper considers the design of sliding mode control using a. Sliding mode control smc is a nonlinear type control that has been introduced for the control of variable structure systems such as the converter and is based on the concept of controller structure change with the state of the system in order to obtain a desired response. Sliding mode control and active disturbance rejection. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. The novel adaptive sliding mode control has several advantages over traditional sliding mode. Summary this paper concerns the controller design for continuous. Slidingmode control, chattering elimination, adaptive gain 1. Current sliding mode control with gainscheduled parameters. Higher school of technologyoujda, university of mohammed i, morocco. Nitesh meena, and bharat bhushan sharmaabstract this paper presents the sliding mode control methodology with backstepping algorithm to derive the structure of controller for inputaffine nonlinear systems. Sliding mode control, pid controller, chattering phenomenon, nonlinear system.
Advanced sliding mode control for mechanical systems. The gain and band width of the controller is designed considering rotor resistance variation, model in accuracies and load disturbance, to have an ideal speed tracking. The use of sliding mode control enables to improve and even. Fpgabased implementation sliding mode control and nonlinear adaptive backstepping control of a permanent magnet synchronous machine drive. This paper presents a highperformance nonsingular terminal sliding mode control method for uncertain secondorder nonlinear systems. Sliding mode and active disturbance rejection control to. This paper focuses on the robust attitude control of a novel coaxial eightrotor unmanned aerial vehicles uav which has higher drive capability as well as greater robustness against disturbances than quadrotor uav. This state is called sliding mode and the control based on this is called sliding mode control which has a very important role in the control of power electronic devices. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which.
This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. The statefeedback control law is not a continuous function of. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. Comparison of backstepping and sliding mode control techiniques for a high performance active vehicle suspension system lihle i. Abstract in this paper a flexibility, due to its recursive use of lyapunov func robust chattering free backstepping sliding mode controller is developed for the sliding mode control smc is a type of nonlinear control attitude stabilization and trajectory tracking control of quadrotor. Then the cerebellar model arithmetic computer cmac. The reaching condition, and the existence and uniqueness of the solution for all states in the state space in smc are established. Both backstepping control bc and sliding mode control smc have been studied extensively over the past few decades, and many variations of controller designs based on them can be found in the literature. Robust chattering free backstepping sliding mode control. The key idea is to apply strong control action when the system deviates from the desired behavior. On multiinput chatteringfree secondorder sliding mode control giorgio bartolini, antonella ferrara, elio usai, and vadim i. First, the backstepping sliding mode bs controller based on the equation of pmsm is elaborated. On multiinput chatteringfree secondorder sliding mode control.
The general method to reject the disturbance is the sliding mode control smc method 1216. A control lyapunov function based approach shyam kamal iit bombay systems and control engg. Cmacbased backstepping sliding mode control of pmsm. Sliding mode control is a robust control method design and adaptive backstepping is an adaptive control design method. A doubleintegral type of indirect sliding mode controllers. 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. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control performance. Sliding mode control and active disturbance rejection control. For sliding mode controller, lyaponov stability method is applied to keep the nonlinear system under control. A high order sliding mode control with pid sliding surface arxiv.
Robust backstepping slidingmode control and observer. In order to attenuate the chattering some techniques such as boundary layer, fuzzy, observer, relay control gain and etc. To precisely control the attitude and position, a new smc based on the backstepping technique is formulated to guarantee the attitude system stability. Nitesh meena, and bharat bhushan sharmaabstract this paper presents the sliding mode control methodology with backstepping algorithm to derive the structure of. Chaos control in afm system using sliding mode control by. Adaptive backstepping and sliding mode control of uncertain. This is a specific type of variablestructure control system vscs. Sliding mode observers historical background and basic. Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higherorder sliding mode control and observation algorithms and their applications. Jun 11, 20 this is a specific type of variablestructure control system vscs. Review of indirect sliding mode controllers for implementation of sm controller in the indirect form, the original control law must be translated 5, 6. An adaptive slidingmode speed observer for induction motor under backstepping control chiheb ben regaya1, fethi farhani2, abderrahmen zaafouri3 and abdelkader chaari3 1institute of applied sciences and technology issatgf university of gafsa campus universitaire sidi ahmed zarrouk bp 1162112 gafsa, tunisia chiheb ben. Backstepping sliding mode robust control for a wiredriven. Pdf integral backstepping integral sliding mode control.
The system is a second order dynamic system, consisting of a mass and a damper. Control of svc based on the sliding mode control method. Sliding mode control in backstepping framework for a class of. Introducing a proper sliding surface is an important step in. Proceedings of the 2014 international conference on. Modern torpedoes are the most effective marine weapons. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Nonlinear attitude and position control of a micro quadrotor. Sliding mode control encyclopedia of life support systems. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Backstepping sliding mode controller coupled to adaptive sliding mode observer for interconnected fractional nonlinear system. Extended state observerbased robust backstepping sliding. I would like to start learning about sliding mode control.
Nonlinear attitude and position control of a micro quadrotor using sliding mode and backstepping techniques patrick adigbli. The proposed total sliding mode control system is depicted in fig. Pdf adaptive backstepping sliding mode control for roll. The present volume addresses a range of sliding mode control issues, including. Example on sliding mode control file exchange matlab. Ray vit university,vellore,india, karunya university, coimbatore, india, vit university,vellore,india summary the main objectives of this paper is aimed to control the position. The reader is referred to the works of levant 11, 12 and fridman and levant 9, for interesting details, extensions, and generalizations of the secondorder sliding mode control idea. On multiinput chatteringfree secondorder sliding mode.
This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. There are many solution techniques in the literature for the conventional slidingmode control. In 15, on the basis of the semigroup theory, the smc is used to deal with a class of abstract in. The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions.
Backstepping sliding mode controller coupled to adaptive. A quadrotor is nonlinear, coupled and unstable system. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. Dynamic sliding mode control based on fractional calculus. Combination of integral sliding mode control design with optimal. Nonsingular terminal sliding mode control of uncertain. Backstepping approach for controlling a quadrotor using lagrange form dynamics. Robust backstepping slidingmode control and observerbased fault estimation for a quadrotor uav abstract. This is based on an approach known as the equivalent control method, which assumes the invariance conditions that during sm operation, s 0and s. Therefore smc is a successful control method for nonlinear systems. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. Backstepping algorithm with sliding mode control for inputaffine nonlinear systems.
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