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

By Jinkun Liu, Xinhua Wang

"Advanced Sliding Mode regulate for Mechanical structures: layout, research and MATLAB Simulation" takes readers throughout the simple recommendations, protecting the newest learn in sliding mode keep watch over. The ebook is written from the point of view of functional engineering and examines various classical sliding mode controllers, together with non-stop time sliding mode keep an eye on, discrete time sliding mode keep an eye on, fuzzy sliding mode keep an eye on, neural sliding mode keep an eye on, backstepping sliding mode regulate, dynamic sliding mode keep an eye on, sliding mode keep watch over in response to observer, terminal sliding mode keep watch over, sliding mode keep watch over for robotic manipulators, and sliding mode regulate for plane. This ebook is meant for engineers and researchers operating within the box of regulate. Dr. Jinkun Liu works at Beijing college of Aeronautics and Astronautics and Dr. Xinhua Wang works on the nationwide collage of Singapore.

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Extra info for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation

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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.

Global sliding mode control eliminates the attaining motion phase and ensures that the whole process of system response is robust. Thus, the drawback of the traditional sliding mode variable structure which has no robustness in the attaining mode is overcome. 13) We can get T (t ) b(u (t )  d (t )) where J is the moment of inertia, b 1 ! 0, d (t ) is the disturbance. 17) where c ! 0, f (t ) is a function to be designed so as to attain at the sliding surface, and f (t ) is satisfied with the following conditions[1]: (1) f (0) e0  ce0 ; (2) f (t ) o 0 as t o f; and (3) f (t ) is derivable.

0 , B ! 0. In practice, J is the time-variant, and disturbances and uncertainties exist. 2) where J n is the nominal moment of inertia, Bn is the nominal sampling coefficient, P is the nominal control input, T n the nominal rolling angle, and J n ! 0 , Bn ! 0. J. 2 The Structure of Control System From Fig. 1, the control consists of two controllers: sliding mode controller with respect to system Eq. 1) and T o T n is expected to be obtained. For model Eq. 2), a sliding mode controller is designed to obtain T n o T d , and T o T d .

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