By Ahmad Taher Azar
This e-book describes the advances and purposes in Sliding mode keep watch over (SMC) that is typical as a robust strategy to take on doubtful nonlinear structures. The ebook is equipped into 21 chapters which were organised via the editors to mirror a number of the issues of sliding mode keep watch over. The ebook presents the reader with a wide diversity of fabric from first ideas as much as the present state-of-the-art within the sector of SMC and remark offered in a transparent, matter-of-fact sort. As such it truly is applicable for graduate scholars with a uncomplicated wisdom of classical regulate conception and a few wisdom of state-space tools and nonlinear structures. The ensuing layout approaches are emphasised utilizing Matlab/Simulink software.
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Additional resources for Advances and Applications in Sliding Mode Control systems
2013; Chen et al. 2014) and mechanical systems (Fei and Wu 2013) yielding the desired performance when disturbances are applied to the system. An adaptive gain SMC is implemented for the stabilization of the Furuta pendulum considering the system dynamics of the model and its stability properties to keep the mechanism trajectory in the desired position. Another property of this control approach is that the chattering effect is minimized and then, the oscillations of the system are cancelled by the controller characteristics.
Section 6 presents the conclusions of this study. 2 Multi-objective Particle Swarm Optimization In this chapter, multi-objective periodic CDPSO is used to address the problem of the proper selection of parameters of sliding mode control. Indeed, this optimization method was successfully employed to acquire the Pareto frontiers of noncommensurable objective functions in the design of linear state feedback controllers (Mahmoodabadi et al. 2011) and the suspension system for a vehicle vibration model (Mahmoodabadi et al.
A proportional derivative + sliding mode controller for the Furuta pendulum yields better results than the conventional second order sliding mode controller, due to the best controller characteristics of the linear PD control law and the nonlinear sliding mode control, reaching the sliding manifold in a finite time ensuring the convergence of the controlled variables in steady state and keeping these variables in the final value as it is defined by the designer. The adaptive sliding mode controller for the Furuta pendulum shown in this chapter is designed taking in count the mechanical system properties of the model, designing the required adaptive gain sliding mode control law to make the sliding surface to reach zero in finite time, this condition is met due to the adaptive gain was designed by the Lyapunov stability conditions making it suitable for the control of this kind of underactuated mechanism.