Sliding Mode Control in Electro-Mechanical Systems

Introduction

Examples of Dynamic Systems with Sliding Modes

Sliding Modes in Relay and Variable Structure Systems

Multidimensional Sliding Modes

Outline of Sliding Mode Control Methodology

Mathematical Background

Problem Statement

Regularization

Equivalent Control Method

Physical Meaning of Equivalent Control

Existence Conditions

Design Concepts

Introductory Example

Decoupling

Regular Form

Invariance

Unit Control

Second-Order Sliding Mode Control

Sliding Mode Control of Pendulum Systems

Design Methodology

Cart Pendulum

Rotational Inverted Pendulum (Model)

Rotational Inverted Pendulum (Control)

Simulation and Experiment Results for Rotational Inverted Pendulum

Control of Linear Systems

Eigenvalue Placement

Invariant Systems

Sliding Mode Dynamic Compensators

Ackermanns Formula

Output Feedback Sliding Mode Control

Control of Time-Varying Systems

Sliding Mode Observers

Linear Asymptotic Observers

Observers for Linear Time-Invariant Systems

Observers for Linear Time-Varying Systems

Observer for Linear Systems with Binary Output

Integral Sliding Mode

Motivation

Problem Statement

Design Principles

Perturbation and Uncertainty Estimation

Examples

Summary

The Chattering Problem

Problem Analysis

Boundary Layer Solution

Observer-Based Solution

Regular Form Solution

Disturbance Rejection Solution

State-Dependent Gain Method

Equivalent Control-Dependent Gain Method

Multiphase Chattering Suppression

Comparing the Different Solutions

Discrete-Time and Delay Systems

Introduction to Discrete-Time Systems

Discrete-Time Sliding Mode Concept

Linear Discrete-Time Systems with Known Parameters

Linear Discrete-Time Systems with Unknown Parameters

Introduction to Systems with Delays and Distributed Systems

Linear Systems with Delays

Distributed Systems

Summary

Electric Drives

DC Motors

Permanent-Magnet Synchronous Motors

Induction Motors

Summary

Power Converters

DC/DC Converters

Boost-Type AC/DC Converters

DC/AC Converter

Summary

Advanced Robotics

Dynamic Modeling

Trajectory Tracking Control

Gradient Tracking Control

Application Examples

Automotive Applications

Air/Fuel Ratio Control

Camless Combustion Engine

Observer for Automotive Alternator

Biography

Vadim Utkin is one of the originators of the concepts of Variable Structure Systems and Sliding Mode Control. Author of five books and more than 300 technical papers, he was awarded the Lenin Prize (the highest scientific award in the former Soviet Union) and was Ford Chair of Electromechanical Systems from 1994 to 2002 at the Ohio State University.

Jüergen Guldner received a Master of Science in Electrical Engineering from Clemson University, South Carolina and a Ph.D. in Controls and Robotics from the Technical University of Munich, Germany, in collaboration with the German Aerospace Center (DLR). He is currently with BMW Manufacturing Co. in Greenville-Spartanburg, SC, preparing the production launch of BMW’s first Active Hybrid Vehicle.

Jingxin Shi graduated from Beijing University of Aeronautics and Astronautics and has worked as visiting scholar and research engineer (permanent employee) for the German Aerospace Centre (DLR), Institute for Robotics and System Dynamics. He was one of the key engineers of German-D2 space robotic program ROTEX (Robot Technology Experiment) which flew aboard U.S. space shuttle Columbia in 1993.