Switched mode power converters are being used extensively for the purpose of efficient power conversion. 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. Since there are some significant advantages associated with sliding mode control smc or variable structure control vsc, fast. Sliding mode control theory seeks to produce controllers to over some such mismatches. A sample thesis with a subtitle by michael mcneil forbes b. Since the conventional control methodologies are not adequate to accommodate such failures, fault tolerant control ftc is required for safety critical system. Sliding mode control design principles and applications to.
The nominal values of the vtol parameters are given in the qnet manual 88 as. A continuous slidingmode controller csmc using integral action is implemented to control the response of the longitudinal dynamics of an aircraft. Shao, shuai 2015 the application of sliding mode observers. Sliding mode control encyclopedia of life support systems. In this thesis, it is tried to have robust performance with reduced chat tering. 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. 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. For the robust control of motor drives, a variety of approaches e. This paper presents basic sliding mode control theory, so i will use the 2 nd ordered siso canonical.
Pdf this paper shows the development of a sliding mode controller with predictive sliding function smcpsf. Visionbased estimation and tracking using multiple unmanned. Visionbased estimation and tracking using multiple. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem.
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. Pdf sliding mode control methodology smc is as an efficient technique. Venkataramanan, ramanarayanan 1986 sliding mode control of power converters. Mishra, j 2019, finitetime sliding mode control strategies and their applications, doctor of philosophy phd. In the past such converters were being modelled using the state space averaging method.
The main argu ments in favor of sliding mode control are order reduction. To design a stabilityguaranteed nonlinear flight control framework with reduced model dependency and enhanced robustness. Table of content solo slide mode control smc 2 sliding mode control introduction control statement of sliding mode existence of a sliding mode reachability. Dynamical adaptive backsteppingsliding mode control for.
Sliding mode control of pitchrate of an f16 aircraft. The invariance property and unique synthesization procedure of sliding mode control smc make it one of the most competitive candidates for ftc. Dynamical modelling of a flexible motorised momentum exchange. You may be able to access a copy if urls are provided kar id. Many existingmethods are available for the smc design for secondorder systems. Incremental sliding mode flight control tu delft repositories. 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.
Slidingmode control of a boost converter supplying a. Akpolat, zuhtu hakan 1999 application of fuzzysliding. 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. Pdf on the sliding mode control of a ball on a beam system. Abd rahman, ramhuzaini 2016 dynamical adaptive backsteppingsliding mode control for servopneumatic positioning applications. 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. 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. I am also very thankful to my doctoral committee members prof. A solution to this problem consists in using the integral action. A sliding mode control for fourwire shunt active filter. 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.
The vsf filter is designed to estimate some of the states of a plant when noise and. Dcdc converter, boost converter, switched mode power supplies, sliding mode control created date. To summarise, the objectives of this thesis are, firstly, to propose a series of new dynamical models for the motorised momentum exchange tethers. In consideration of these challenges, the main goal of this thesis is. 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. 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.
Then, a sliding mode control method is employed to suppress stickslip vibration. The sliding mode control of dcdc switching converters is presented in contrast to the. 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. This thesis deals with the development of a hysteresis band controller. In this thesis, the uavgmt tracking problem is studied from various perspectives, and three di erent tracking algorithms are developed.
The method of the equivalent control is illustrated in the design of a cascade control for the voltage regulation of a nonminimum phase converter. Sliding mode control design principles and applications to electric drives vadim i. This paper investigates the sliding mode control of the ball on a beam system. Doctor of philosophy phd thesis, university of kent. 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. Discretetime sliding mode control tu delft repositories. To tackle these issues, this thesis is concerned with the sliding mode based learning control technique and its applications.
Again experimental and numerical results for the control cases are in a close agreement. The dissertation is written in a paper format unlike the traditional ph. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Dcdc converter, boost converter, switchedmode power supplies, sliding mode control created date. 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. Riosbolivar, miguel 1997 adaptive backstepping and sliding mode control of uncertain nonlinear systems. This thesis addresses this problem proposing an approach that. The slidingmode control of dcdc switching converters is presented in contrast to the. Sahu, pradeep kumar 2016 sliding mode control of photovoltaic energy conversion systems. Dynamical modelling of a flexible motorised momentum.
Department of engineering, university of leicester, uk. 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. Incremental control nonlinear control faulttolerant control aeroservoelastic system sliding mode control sliding mode disturbance observer. Increasing interest and investment in renewable energy give.
The gain and band width of the controller is designed. A thesis submitted in partial fulfilment of the requirements for the degree of. The sliding mode control can be implemented using a pd controller as the sliding surface. The development of adaptive control design techniques for nonlinear systems with parametric uncertainty has been intensively studied in recent years. Sliding mode control for complex time delay systems with. Continuous and discretetime sliding mode control design. 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. In this thesis, the describing function method, most suitable technique. The main objective of this thesis is to develop robust sliding mode control strategies for. Khalid khan, design and application of second order sliding mode control algorithms, phd thesis, november 2003. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Development of robust control based on sliding mode for nonlinear. Sliding mode control smc has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. 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.
Since the secondorder sliding mode controller, for example. A digital selftuning control technique of dcdc buck converter is considered and thoroughly analyzed in this paper. In this dissertation report, a sliding mode controller is designed for an induction motor drive. Sliding mode control of photovoltaic energy conversion. The theory of variable structure systems vss, and sliding mode control form a mutually complementary analysis and design tools for the control of.
Estimation of tireroad friction coefficient and its. The methods used for this purpose is the boundary layer control laws or by using. The work here reported tackles the problem of controlling in slidingmode a boost converter supplying a constant power load cpl. Pe123009, hereby state that my phd thesis titled, on performance based design of smooth sliding mode control is my own work and has.
The application of sliding mode observers to fault detection and isolation for multilevel converters shuai shao, beng thesis submitted to the university of nottingham. Operational failure of control surfaces is one of the main reasons leading to aircraft crash. 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. Sliding mode control of dcdc boost converter author. Finitetime sliding mode control strategies and their. I second order sliding mode control under switching gain form. The work here reported tackles the problem of controlling in sliding mode a boost converter supplying a constant power load cpl. The key idea is to apply strong control action when the system deviates from the desired behavior.
Adaptive backstepping and sliding mode control of uncertain. The development of the smallsignal model of the converter, which is the key of. There have been many contributions in the smc field in the last decade. 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. Moreover, some important control problems involving uncertain mechanical. The twl algorithm also offers a solution to estimate the time derivative of a sample. Access to this publication is currently restricted. 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. Sliding mode learning control and its applications. Design is decoupled into two independent subproblems. Finitetime sliding mode control strategies and their applications.
However, the complex dynamical behaviours due to discretization in continuoustime smc systems have not yet been fully explored. Sliding mode fault tolerant reconfigurable control against. A static and a dynamic sliding mode controllers are designed using a simplified model of the system. The control strategies to be used are pid and sliding mode control. Akpolat, zuhtu hakan 1999 application of fuzzysliding mode. Modelfollowing of the pitch rate q is obtained through this method. Pdf new discrete sliding mode controller with predictive sliding. The statefeedback control law is not a continuous function of time. The main objective of this thesis is to develop robust sliding mode control strategies for uncertain systems. 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.
Integrated control and estimation based on sliding mode. Fixedswitching frequency sliding mode control applied to power converters. In this thesis, smcbased ftc methods for nonlinear systems are developed to handle both partial loss faults and total failures in the control surfaces. 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.
The motivation of this controller is to introduce the lyapunov function vx. Asymptotic regulation achieved by integral control has its downsides because transient performance is reduced. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. Sliding mode controller design sliding mode control is a special version of an ono control.
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