By Jinkun Liu, Xinhua Wang
"Advanced Sliding Mode keep an eye on for Mechanical structures: layout, research and MATLAB Simulation" takes readers during the uncomplicated ideas, overlaying the latest learn in sliding mode regulate. The publication is written from the point of view of useful engineering and examines quite a few classical sliding mode controllers, together with non-stop time sliding mode regulate, discrete time sliding mode keep an eye on, fuzzy sliding mode keep watch over, neural sliding mode keep an eye on, backstepping sliding mode keep an eye on, dynamic sliding mode regulate, sliding mode regulate in response to observer, terminal sliding mode keep an eye on, sliding mode keep an eye on for robotic manipulators, and sliding mode keep watch over for airplane. This booklet is meant for engineers and researchers operating within the box of keep an eye on. Dr. Jinkun Liu works at Beijing collage of Aeronautics and Astronautics and Dr. Xinhua Wang works on the nationwide collage of Singapore.
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Extra resources for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation
5, d M 10. 0, therefore, h2 2k n , h1 k 2 . In Eq. 5 0]. The simulation results are shown in Fig. 2 Fig. 4. 2 Global Sliding Mode Control for an Uncertain System The tending mode and the sliding mode are the conclusions drawn from the responses of the traditional sliding mode variable structure control. The robustness of this control to parameter uncertainties and disturbances exists only in the phase of sliding mode. However, the kinetic characteristic of this system is robust during the whole response.
The simulation results are shown in Fig. 17 Fig. 19. 28), M 2 represents using saturation function. 05, the simulation results are shown in Fig. 20 and Fig. 21. 05, the simulation results are shown in Fig. 22 and Fig. 23. 6 Sliding Mode Control Based on the Equivalent Control In the sliding mode controller, the control law usually consists of the equivalent control ueq and the switching control usw . The equivalent control keeps the state of system on the sliding surface, while the switching control forces the system sliding on the sliding surface.
Therefore, the chattering phenomenon can be restrained thoroughly. 5 m, u is the control input. 1sin (t ). 20. The controller is Eq. 28) M is a variable in the simulation program. M 1 indicates the controller with a switch function, and M 2 indicates the controller with a saturation function. The 20 1 Introduction switch function is adopted firstly, andM 1. The simulation results are shown in Fig. 12 and Fig. 13. 05 in Eq. 29). The simulation results are shown in Fig. 14 and Fig. 15. 1 Sliding Mode Control Based on Quasi-Sliding Mode Quasi-Sliding Mode In practical engineering systems, the chattering of sliding mode control may cause damage to system components such as actuators.
Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation by Jinkun Liu, Xinhua Wang