To avoid the chattering problem in the reachinglawbased discretetime sliding mode control dsmc and the generation of overlarge control action in the equivalentcontrolbased dsmc, a new dsmc method based on nonsmooth control is proposed in this paper. In this paper, a new equivalent control based discrete time sliding mode control is proposed for a class of nonlinear process with uncertainty and external disturbance. A discretetime chattering free sliding mode control with. However, several adaptive fuzzy sliding mode control systems have been developed for continuous time systems 1115, but only a few of them are devoted to discrete time systems 1620.
The resulting sliding mode control addresses robustness issues and the functionalobserver approach reduces the observer order substantially. We also have many ebooks and user guide is also related with discrete time sliding mode control pdf, include. In the design an integrator is augmented to ensure the tracking with zero steadystate errors. This approach, which corresponds with the earlier mentioned design option ii, can be illustrated by the blockscheme presented in figure 1. Yu and xu, 2002 is quite different of performing the control design in the continuous time domain. Discretetime sliding mode control for robust tracking and model following of systems with state and input delays. This work deals with sliding mode control of discrete.
Moreover, this finite time step is same as the time step at which the output hits the sliding surface. With the increasing use of computers and discrete time samplers in controller implementation in the recent past, discrete time systems and computer based control have become important topics. Discretetime sliding mode control a multirate output. The control does not need the switching function and it brings the state trajectory to the sliding surface in. A modified discretetime sliding surface is proposed to derive the discretetime sliding mode control algorithms. Analysis and implementation of discrete time sliding mode control. Yu and xu, 2002 is quite different of performing the control design in the continuoustime domain.
Slidingmode control smc is designed for discretetime stochastic systems, extended so that states lie within a specified band. However, several adaptive fuzzy sliding mode control systems have been developed for continuoustime systems 1115, but only a few of them are devoted to discretetime systems 1620. Robust sliding mode control for nonlinear discretetime. Pdf discretetime output feedback sliding mode control for. A neuralnetwork approximation and the lyapunovkrasovskii functional theory into the slidingmode technique is used and a neuralnetwork based sliding mode control scheme is proposed. This paper investigates a class of uncertain linear discrete time systems subject to input rate saturation. This book aims to explain recent investigations output in the. Professor zoran gaji c sliding mode control is a form of variable structure control which is a powerful tool to cope with external disturbances and uncertainty.
To avoid the chattering problem in the reachinglawbased discrete time sliding mode control dsmc and the generation of overlarge control action in the equivalent control based dsmc, a new dsmc. Difference equations, discretetime systems, lyapunov methoois, sliding lattice, sliding mode control, sliding surfaces, stabilization methods, variable. Shah and others published discretetime sliding mode control for networked control system find, read. A neuralnetwork approximation and the lyapunovkrasovskii functional theory into the sliding mode technique is used and a neuralnetwork based sliding mode control scheme is proposed. Continuoustime sliding mode sliding mode is originally conceived as system motion.
A multirate output feedback approach find, read and. This paper presents a novel robust tracking and model following control scheme for a class of linear systems with mismatched state and input delays. Research article a novel fuzzy slidingmode control for. Pdf on the discretetime integral slidingmode control. This book presents novel algorithms for designing discretetime sliding mode controllers dsmcs for networked control systems ncss with both types of fractional delays namely deterministic delay and random delay along with different packet loss conditions such as single packet loss and multiple packet loss that occur within the sampling period. Switching in the sliding mode control is well known to deliver robustness. To avoid the chattering problem in the reachinglawbased discretetime sliding mode control dsmc and the generation of overlarge control action in the equivalentcontrolbased dsmc, a new dsmc.
It ensures that the representative point state of the controlled plant approaches the switching plane in finite time and then crosses it in every subsequent step. Here is the access download page of discrete time sliding mode control pdf, click this. Nowadays, im are the most popular electrical machines em applied in many industrial applications as motion control devices, including electrical and hybrid vehicles. Abstracta new discretetime integral sliding mode control. To avoid the chattering problem in the reachinglawbased discrete time sliding mode control dsmc and the generation of overlarge control action in the equivalent control based dsmc, a new dsmc method based on nonsmooth control is proposed in this paper. The behavior of the discretetime sliding mode controller for linear, nonlinear, and stochastic systems was investigated by su et al. The discrete algorithms for sliding mode control of the motor speed and rotor. Sep 26, 2018 discrete time sliding mode control iii lecture by sohom chakrabarty. Since the sliding mode control is original from continuous time, it is more difficult to choose a synthesis in discrete time. Time sliding mode control with outputs of relative. By constructing the multirate sampling sliding mode controller, the flight simulator can perfectly track a given reference signal with an arbitrarily small dynamic. It has been shown i n the recent past 14, 15 that, sliding mode may be achieved in discretetime systems without the usage of a switching function.
The new control scheme is characterized by a discrete time integral sliding manifold which inherits the desired properties of the continuous time integral sliding manifold, such as full order. Robust predictive sliding mode control for input rate. Slidingmode control smc is designed for discretetime stochastic systems. Moreover, it has been shown in 7, 8 that converting the continuous time smc to a discrete sliding mode controller dsmc, by using an implicit euler discretization. This book aims to explain recent investigations output in the field of discrete time sliding mode control dsmc. Member, ieee abstract this paper presents a guide to sliding mode control for practicing control engineers. Discrete time sliding mode control with reduced switching. An alternative sliding mode controller, specically designed for sampleddata or discretetime systems is considered in this thesis, resulting in a discretetime sliding mode controller dsmc. Pdf discretetime sliding mode control for networked control. Discrete time sliding mode control with reduced switching a. This paper presents a robust sliding mode controller for a class of unknown nonlinear discretetime systems in the presence of fixed time delay.
On the discretetime integral sliding mode control core. Discrete time output feedback sliding mode control for time delay systems with uncertainty. With the increasing use of computers and discrete time samplers in controller implementation in the recent past, discrete time systems and computer based control have. The two methods found in the literature for continuous time sliding mode are applied to discrete time sliding mode.
A varying reaching law is proposed to increase the precision close to the sliding surface. Discretetime sliding mode control with disturbance rejection. Discrete time sliding mode control iii lecture by sohom. It details slidingfunction designs for various categories of linear timeinvariant systems and its application for control. Chatteringfree discretetime sliding mode control request pdf. The resulting slidingmode control addresses robustness issues and the functionalobserver approach reduces the observer order substantially. Moreover, it has been shown in 7, 8 that converting the continuoustime smc to a discrete sliding mode controller dsmc, by using an implicit euler discretization. This book aims to explain recent investigations output in the field of discrete time sli. Apr 10, 2019 due to the discrete sampling of digital computer, it is necessary to develop the corresponding control algorithms for nonlinear processes.
Sliding mode control smc is designed for discrete time stochastic systems. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. Discretetime sliding mode control of gmaw systems using. Discretetime sliding mode control for uncertain networked. Discrete sliding mode speed control of induction motor using. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have become important topics.
Discretetime sliding mode control for networked control. Discrete sliding mode speed control of induction motor. In this paper, the problem of sliding mode control for a class of discretetime system is addressed. Time sliding mode control with outputs of relative degree. Among various design techniques for robust control sliding mode control smc is found to be an alternative approach for motion. This site is like a library, use search box in the widget to get ebook that you want. This paper deals with a discretetime sliding mode control dsmc for im drives. Sliding mode control of discretetime systems request pdf. A control engineers guide to sliding mode control control. The concept of the discretetime sliding mode is clarified and a new sufficient condition for its existence is presented.
This book aims to explain recent investigations output in the field of discretetime sli. Section ii, then in section iii, we progress to discretetime sliding mode, dsm followed with sampled data smc design in section iv. Sliding mode control theory and applications download. The discrete time sliding mode control young et al. Sliding mode control smc of electric drives constitutes a very popular control method for nonlinear multivariable and timevarying systems, e. Therefore, all control algorithms should be discretized or the whole control system should be designed in the discrete time domain. In order to improve the tracking accuracy of flight simulator and expend its frequency response, a multiratesamplingmethodbased discretetime chattering free sliding mode control is developed and imported into the systems. Several years later, discrete time sliding mode control systems have also been introduced 8, 9 and researched in numerous signi. Discretetime sliding mode control for robust tracking and. Adaptive switching gain denition for discretetime sliding mode control chapter 3.
Discretetime output feedback sliding mode control for timedelay systems with uncertainty. Firstly, the switching type and nonswitching type algorithms developed for the deterministic type fractional delay where the delay is compensated using thirans approximation technique. Get discrete time sliding mode control pdf file for free from our online library pdf file. Sliding mode control smc is designed for discrete time stochastic systems, extended so that states lie within a specified band, and able to deal with incomplete information. Sliding mode control of discrete time weakly coupled systems by prashanth kumar gopala thesis director. This paper deals with a discrete time sliding mode control dsmc for im drives. It is proved that the ultimate band about the sliding surface could be greatly. Adaptive discrete time fuzzy sliding mode control is proposed for antilock braking systems 27. In this paper, a new equivalent controlbased discretetime sliding mode control is proposed for a class of nonlinear process with uncertainty and external disturbance. This control strategy referred to as sliding mode control smc, has its roots in continuous time relay control. It begins by presenting a discrete variable speed reaching law and a discrete time sliding mode controller dsmc designed using the proposed reaching law, followed by an analysis of their stability and dynamic performance. Research article discretetime sliding mode control for. Analysis and implementation of discretetime sliding mode control.
Adaptive discretetime fuzzy sliding mode control is proposed for antilock braking systems 27. Discrete time sliding mode control iii lecture by sohom chakrabarty. Dynamics of discretetime slidingmodecontrol uncertain. On the discrete time integral sliding mode control. In 11, a new stability condition for discrete systems with timevarying delay is proposed using moons inequality 12, which is further extended to normbounded unceratinties. Pdf 4 multirate output feedback based discretetime quasisliding mode control of time delay systems. This paper presents a robust sliding mode controller for a class of unknown nonlinear discrete time systems in the presence of fixed time delay. Dynamics of discretetime slidingmodecontrol uncertain systems with a disturbance compensator shaocheng qu, member, ieee, xiaohua xia, fellow, ieee, and jiangfeng zhang abstractin this paper, dynamical behaviors of the discrete time slidingmodecontrol dsmc uncertain systems are studied. Discretetime sliding mode control for a class of nonlinear.
Discrete sliding mode control for hypersonic cruise missile. Dynamics of discretetime slidingmodecontrol uncertain systems with a disturbance compensator shaocheng qu, member, ieee, xiaohua xia, fellow, ieee, and jiangfeng zhang abstractin this paper, dynamical behaviors of the discretetime slidingmodecontrol dsmc uncertain systems are studied. The focus of this book is on the design of a specific control strategy using digital computers. It offers an accurate assessment of the socalled chattering phenomenon, catalogs. Discretetime sliding mode control design sciencedirect. The analysis brings forward important advancements in the direction of discrete. In the case of discretetime sliding mode control dsmc design, the control is applicable only at certain sampling instants and the control effort is constant over the entire sampling period. Sliding mode control theory and applications download ebook. Pdf discretetime output feedback sliding mode control. This control strategy referred to as sliding mode control smc, has its roots in continuoustime relay control. Neural network based sliding mode control for uncertain. Sliding mode control of discretetime weakly coupled systems by prashanth kumar gopala thesis director. Analysis and implementation of discrete time sliding mode control olivier huber to cite this version. A general method on discretetime sliding mode control base d on fast outputsamplingis presentedin 19.
This work considers the sliding mode control problem of a class of discrete. Both discrete and continuous time sliding mode controllers drive the system representative point state vector onto a predetermined hyperplane in the state space. Adaptive switching gain denition for discrete time sliding mode control chapter 3. Nowadays, the control systems of em are mostly realized using digital techniques microprocessors and microcontrollers. Pdf on jan 1, 2006, bijnan bandyopadhyay and others published discretetime sliding mode control.
Since the sliding mode control is original from continuous time, it is more difficult to choose a synthesis in discretetime. In order to improve the tracking accuracy of flight simulator and expend its frequency response, a multiratesamplingmethodbased discrete time chattering free sliding mode control is developed and imported into the systems. A discrete version of smc is important when the implementation. Analysis and implementation of discretetime sliding mode control olivier huber to cite this version. Click download or read online button to get sliding mode control theory and applications book now. To minimize the degenerative effects of the time delay, a simpler. Pdf on the discretetime integral sliding mode control. A discrete variable structure control dvsc with sliding vector is presented to track the velocity and acceleration command for a hypersonic cruise missile. It details sliding function designs for various categories of linear time invariant systems and its application for control. Analysis and implementation of discretetime sliding mode. Adaptive discrete second order sliding mode control with. However, it also causes problematic control chattering that becomes more serious in discretetime control. It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its wellknown. Discretetime stochastic sliding mode control using.
Frequencyshaped and observer based discrete time sliding. Dec 29, 2014 in this paper, a novel reaching law for discrete. It begins by presenting a discrete variable speed reaching law and a discretetime slidingmode controller dsmc designed using the proposed reaching law, followed by an. Due to the discrete sampling of digital computer, it is necessary to develop the corresponding control algorithms for nonlinear processes.
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