Apply Sliding Mode Theory to Solve Control Problems
Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications.
In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost.
Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC.
SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs.
Table of Contents
Examples of Dynamic Systems with Sliding Modes
Sliding Modes in Relay and Variable Structure Systems
Multidimensional Sliding Modes
Outline of Sliding Mode Control Methodology
Equivalent Control Method
Physical Meaning of Equivalent Control
Second-Order Sliding Mode Control
Sliding Mode Control of Pendulum Systems
Rotational Inverted Pendulum (Model)
Rotational Inverted Pendulum (Control)
Simulation and Experiment Results for Rotational Inverted Pendulum
Control of Linear Systems
Sliding Mode Dynamic Compensators
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
Perturbation and Uncertainty Estimation
The Chattering Problem
Boundary Layer 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
Permanent-Magnet Synchronous Motors
Boost-Type AC/DC Converters
Trajectory Tracking Control
Gradient Tracking Control
Air/Fuel Ratio Control
Camless Combustion Engine
Observer for Automotive Alternator
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.