Sliding modes in motion control systems

Abstract

In this paper we discuss the realization of motion control systems in the sliding mode control (SMC) framework. Any motion control system design should take into account the unconstrained motion (generally perceived as a trajectory tracking) and motion of the system in contact with unknown environment (perceived as force control and/or compliance control.) In the SMC framework control is selected to enforce certain preselected dependence among system coordinates, what is interpreted as forcing the system state to stay in selected manifold in state space. In this paper it has been shown that such a formulation allows a unified treatment of the both unconstrained and constrained motion control and, due to the Lyapunov based design, it guaranty the stability of the motion. Moreover control design in this framework allows extension of the solution to control design in interconnected dynamical systems (like mobile robots or bilateral systems).

Data driven disturbance observer design and control for diesel engine airpath

“…For a plant in control affine form (9), outer loop control can be realized with the discrete time sliding mode controller (DTSMC) [23] given by (10) where the sliding surface is defined in (11). This controller is continous and does not need computation of the equivalent control which is quite common in many SMC based control approaches.…”

“…In the presented study, a finite impulse response (FIR) model for nominal inverse plant based on a nonlinear system identification method is utilized to resolve the inversion issue. In the outer loop, the discrete time sliding mode control (DTSMC) approach proposed in [23] is employed. Both identification and control implementations are demonstrated on a high fidelity nonlinear engine model detailed in [24].…”

Adaptive Wavelet Neural Network Backstepping Sliding Mode Tracking Control for PMSM Drive System

“…For equation (6), V 1 = 1 2 e 2 θ is selected as a Lyapunov candidate function and differentiated respect to time as follow:…”

“…However, there are disadvantages in backstepping design including complexity increasing, over-parametrization, pre-knowing model information and so on which need to be overcome in practical application [4]. Sliding mode control is another effective tool to solve nonlinear problems in motion control [5][6]. It designs sliding manifold by using a lower order model to achieve the control objective that state variable trajectories are forced to reach a sliding manifold in finite time and stay on the manifold for all future time and motion on the manifold is independent of matched uncertainties in the same time [7].…”

Multi input sliding mode control of an autonomous fuel cell-supercapacitor hybrid system

“…In addition, the on-line computational burden of the resultant algorithms can be considerably low, compared to those obtained with other non linear control techniques. Effectively, since its origins [7] [8], SMC has evolved into a robust and powerful design technique for a wide spectrum of applications, particularly nonlinear systems, MIMO plants and perturbed and uncertain systems [9] [10] [11].…”