Sahu, pradeep kumar 2016 sliding mode control of photovoltaic energy conversion systems. For this purpose, a novel output feedback based sliding mode strategy is proposed for uncertain nonlinear systems which is based on the existing the ory of dynamic sliding mode and basic theory of integral sliding mode control. Since there are some significant advantages associated with sliding mode control smc or variable structure control vsc, fast. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. This paper investigates the sliding mode control of the ball on a beam system. Integrated control and estimation based on sliding mode. Sliding mode control sliding mode controller provides a systematic approach to the problem maintaining stability and consistence performance in the face of modeling imprecision 56. A continuous slidingmode controller csmc using integral action is implemented to control the response of the longitudinal dynamics of an aircraft. Sliding mode control design principles and applications to. Pe123009, hereby state that my phd thesis titled, on performance based design of smooth sliding mode control is my own work and has. The dissertation is written in a paper format unlike the traditional ph. Access to this publication is currently restricted. However, the complex dynamical behaviours due to discretization in continuoustime smc systems have not yet been fully explored.
The twl algorithm also offers a solution to estimate the time derivative of a sample. A linear switching surface is proposed to overcome the intrinsic unstable behavior of the converter in both on and off states, this resulting in a significant mitigation of the inrush current and a high degree of output voltage regulation. Shao, shuai 2015 the application of sliding mode observers. Finitetime sliding mode control strategies and their applications. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Proceedings of the 17th world congress the international federation of automatic control seoul, korea, july 611, 2008 sliding mode control of pitchrate of an f16 aircraft ekprasit promtun sridhar seshagiri aircraft research and development office, royal thai air force, don muang, bangkok, thailand email protected department of electrical and computer engg. This thesis is concerned with developing novel integrated control and estimation algorithms to overcome some of these problems in order to achieve an efficient tracking performance.
Modelfollowing of the pitch rate q is obtained through this method. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discretetime systems with relatively low switching frequencies. Venkataramanan, ramanarayanan 1986 sliding mode control of power converters. 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. For the robust control of motor drives, a variety of approaches e. Sliding mode control of dcdc boost converter author. In this thesis, the uavgmt tracking problem is studied from various perspectives, and three di erent tracking algorithms are developed. Pdf sliding mode control methodology smc is as an efficient technique. Design is decoupled into two independent subproblems. The present paper deals with the sliding mode control of a threephase fourwire shunt active filter saf, to improve phasecurrent waveform, neutral current mitigation and reactive power compensation in electric power distribution system. Out of many robust nonlinear control strategies, a further development in sliding mode control smc strategy is considered in this thesis because of its simplicity and robustness. Sliding mode controller design sliding mode control is a special version of an ono control.
The main objective of this thesis is to develop robust sliding mode control strategies for. Incremental sliding mode flight control tu delft repositories. Table of content solo slide mode control smc 2 sliding mode control introduction control statement of sliding mode existence of a sliding mode reachability. Incremental control nonlinear control faulttolerant control aeroservoelastic system sliding mode control sliding mode disturbance observer. I am also very thankful to my doctoral committee members prof. The development of adaptive control design techniques for nonlinear systems with parametric uncertainty has been intensively studied in recent years. 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. Smooth chattering free sliding mode control addresses the issue of chattering and provides smooth control action thereby removing the chattering from the sliding mode controller. Increasing interest and investment in renewable energy give. Sliding mode control of photovoltaic energy conversion. A digital selftuning control technique of dcdc buck converter is considered and thoroughly analyzed in this paper. The work here reported tackles the problem of controlling in sliding mode a boost converter supplying a constant power load cpl. Adaptive backstepping and sliding mode control of uncertain.
A solution to this problem consists in using the integral action. Discretetime sliding mode control tu delft repositories. The higher order sliding mode control is an expansion of the conventional sliding mode, and it can cancel the imperfection of the conventional sliding mode methodology and sustain its advantages. In this dissertation report, a sliding mode controller is designed for an induction motor drive. There have been many contributions in the smc field in the last decade. The motivation of this controller is to introduce the lyapunov function vx. Sliding mode control for complex time delay systems with. The invariance property and unique synthesization procedure of sliding mode control smc make it one of the most competitive candidates for ftc. Dcdc converter, boost converter, switchedmode power supplies, sliding mode control created date. Wellestablished investigations have shown that the sliding mode controller observer is a good approach from the point of view of robustness, implementation, numerical stability, applicability, ease of design tuning and overall evaluation. The sliding mode control of dcdc switching converters is presented in contrast to the. Pdf new discrete sliding mode controller with predictive sliding. You may be able to access a copy if urls are provided kar id. Such converters are nonlinear, time variant systems.
I second order sliding mode control under switching gain form. In this thesis, it is tried to have robust performance with reduced chat tering. The sliding mode control can be implemented using a pd controller as the sliding surface. Sliding mode control is a wellknown approach to the problem of the control of uncertain systems, since it is invariant to a class of parameter variations. In this thesis, the describing function method, most suitable technique.
This paper presents basic sliding mode control theory, so i will use the 2 nd ordered siso canonical. A sample thesis with a subtitle by michael mcneil forbes b. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. The slidingmode control of dcdc switching converters is presented in contrast to the. Switched mode power converters are being used extensively for the purpose of efficient power conversion. 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. Moreover, some important control problems involving uncertain mechanical. Sliding mode control design principles and applications to electric drives vadim i. Doctor of philosophy phd thesis, university of kent. The characteristic feature of a continuoustime smc system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the. Akpolat, zuhtu hakan 1999 application of fuzzysliding. Sliding mode control smc has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. Dynamical adaptive backsteppingsliding mode control for.
Sliding mode learning control and its applications. In the past such converters were being modelled using the state space averaging method. The work here reported tackles the problem of controlling in slidingmode a boost converter supplying a constant power load cpl. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. In this thesis, smcbased ftc methods for nonlinear systems are developed to handle both partial loss faults and total failures in the control surfaces. This thesis deals with the development of a hysteresis band controller.
The main objective of this thesis is to develop robust sliding mode control strategies for uncertain systems. Many existingmethods are available for the smc design for secondorder systems. A static and a dynamic sliding mode controllers are designed using a simplified model of the system. The nominal values of the vtol parameters are given in the qnet manual 88 as. The main argu ments in favor of sliding mode control are order reduction. To tackle these issues, this thesis is concerned with the sliding mode based learning control technique and its applications. Utkin abstractthe paper deals with the basic concepts, mathemat ics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode.
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. Abd rahman, ramhuzaini 2016 dynamical adaptive backsteppingsliding mode control for servopneumatic positioning applications. Development of robust control based on sliding mode for nonlinear. 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 key idea is to apply strong control action when the system deviates from the desired behavior.
Asymptotic regulation achieved by integral control has its downsides because transient performance is reduced. Since the conventional control methodologies are not adequate to accommodate such failures, fault tolerant control ftc is required for safety critical system. Pdf this paper shows the development of a sliding mode controller with predictive sliding function smcpsf. Slidingmode control of a boost converter supplying a. Sliding mode learning control and its applications manh tuan do submitted in total fulfilment of the requirements of the degree of doctor of philosophy faculty of science, engineering and technology swinburne university of technology melbourne, australia 2014. This thesis addresses this problem proposing an approach that. Akpolat, zuhtu hakan 1999 application of fuzzysliding mode. Visionbased estimation and tracking using multiple unmanned. The content of the thesis discourse is based on five manuscripts which are. The control strategies to be used are pid and sliding mode control. Sliding mode fault tolerant reconfigurable control against.
Continuous and discretetime sliding mode control design. Finitetime sliding mode control strategies and their. The vsf filter is designed to estimate some of the states of a plant when noise and. The method of the equivalent control is illustrated in the design of a cascade control for the voltage regulation of a nonminimum phase converter. A sliding mode control for fourwire shunt active filter. A special attention is paid to prove the lyapunov stability of the controller in presence of model parameter uncertainties by defining a robust lyapunov function. Dynamical modelling of a flexible motorised momentum exchange. Dcdc converter, boost converter, switched mode power supplies, sliding mode control created date. On discretization of sliding mode control systems rmit. In consideration of these challenges, the main goal of this thesis is. The methods used for this purpose is the boundary layer control laws or by using. The rst tracking algorithm is based on sliding mode control, and it enables a xedwing uav to maintain a constant distance relative to a gmt with a speed up to the uavs cruising speed.
Riosbolivar, miguel 1997 adaptive backstepping and sliding mode control of uncertain nonlinear systems. The application of sliding mode observers to fault detection and isolation for multilevel converters shuai shao, beng thesis submitted to the university of nottingham for the degree of doctor of philosophy, july 2015. Again experimental and numerical results for the control cases are in a close agreement. Department of engineering, university of leicester, uk.
The development of the smallsignal model of the converter, which is the key of. Suppression of drillstring stickslip vibration by sliding. The gain and band width of the controller is designed. The statefeedback control law is not a continuous function of time. Estimation of tireroad friction coefficient and its. Onyeka, adrian emeka 2019 sliding mode control for complex time delay systems with application to power systems. To summarise, the objectives of this thesis are, firstly, to propose a series of new dynamical models for the motorised momentum exchange tethers. To design a stabilityguaranteed nonlinear flight control framework with reduced model dependency and enhanced robustness. Pdf on the sliding mode control of a ball on a beam system. The recently developed adaptive backstepping technique has provided a systematic solution to the problem of designing static adaptive controllers for uncertain nonlinear systems transformable into the triangular parametric strict feedback and. Fixedswitching frequency sliding mode control applied to power converters.
The theory of variable structure systems vss, and sliding mode control form a mutually complementary analysis and design tools for the control of. Sliding mode control of pitchrate of an f16 aircraft. Dynamical modelling of a flexible motorised momentum. Sliding mode control theory seeks to produce controllers to over some such mismatches. Sliding mode control encyclopedia of life support systems.