Read e-book online Advanced Sliding Mode Control for Mechanical Systems: PDF

By Jinkun Liu, Xinhua Wang

ISBN-10: 3642209068

ISBN-13: 9783642209062

"Advanced Sliding Mode regulate for Mechanical structures: layout, research and MATLAB Simulation" takes readers during the easy options, masking the newest learn in sliding mode keep an eye on. The ebook is written from the point of view of useful engineering and examines various classical sliding mode controllers, together with non-stop time sliding mode regulate, discrete time sliding mode keep watch over, fuzzy sliding mode regulate, neural sliding mode keep watch over, backstepping sliding mode regulate, dynamic sliding mode keep an eye on, sliding mode regulate in response to observer, terminal sliding mode keep an eye on, sliding mode regulate for robotic manipulators, and sliding mode keep watch over for airplane. This ebook is meant for engineers and researchers operating within the box of keep watch over. Dr. Jinkun Liu works at Beijing collage of Aeronautics and Astronautics and Dr. Xinhua Wang works on the nationwide college of Singapore.

Show description

Read or Download Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation PDF

Best mechanics books

Download e-book for kindle: Advances in Applied Mechanics, Vol. 40 by Erik van der Giessen, Hassan Aref

The key advancements within the box of fluid and strong mechanics are scattered all through an array of clinical journals, making it usually tough to discover what the genuine advances are, specially for a researcher new to the sector. The Advances in utilized Mechanics publication sequence attracts jointly the new major advances in numerous themes in utilized mechanics.

The Pendulum: A Case Study in Physics - download pdf or read online

The Pendulum: A Case examine in Physics is a different ebook in numerous methods. to begin with, it's a comprensive quantitative research of 1 actual approach, the pendulum, from the perspective of straight forward and extra complicated classical physics, glossy chaotic dynamics, and quantum mechanics. furthermore, coupled pendulums and pendulum analogs of superconducting units also are mentioned.

Download e-book for kindle: Classical Mechanics (3rd Edition) by Herbert Goldstein

For 30 years, this booklet has been the said average in complicated classical mechanics classes. This vintage booklet allows readers to make connections among classical and smooth physics — an crucial a part of a physicist's schooling. during this new version, Beams Medal winner Charles Poole and John Safko have up to date the booklet to incorporate the newest subject matters, functions, and notation to mirror present day physics curriculum.

Read e-book online Advances in Mechanics and Mathematics: Volume II PDF

As any human job wishes targets, mathematical study wishes difficulties -David Hilbert Mechanics is the paradise of mathematical sciences -Leonardo da Vinci Mechanics and arithmetic were complementary companions on account that Newton's time and the historical past of technological know-how indicates a lot proof of the ben­ eficial effect of those disciplines on one another.

Extra info for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation

Example text

E. h2 2k  n , h1 k 2 . Therefore, Jn Jn we can get h1 and h2 . 5) where J m is the minimum value of J, J M is the maximum value of J, Bm is the minimum value of B, BM is the maximum value of B, and d M is the maximum value of d. 10) en Define the sliding variable as s where O ! 12) u where K ! 0. Define h 43 Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation Let the Lyapunov function be 1 2 Js 2 V Therefore, we have J ª¬(T  T n )  O (T  T n ) º¼ Js ( JT  BT )  BT  ( JT  BT )  ud  J J J J nT n  BnT n  BnT n  J O (T  T n ) Jn Jn Jn J ( J nT n  BnT n )  BT  O JT Jn J P  BT  O JT Jn From Eq.

0 , x  R n , u  R , d (t ) denotes external disturbance and uncertainty while we assume | d (t ) |İ D. 36) where C [c1 c2 " cn 1 1] is a 1 u n vector. 2 Sliding Mode Controller Design In order to satisfy reaching conditions of sliding mode control s ( x, t ) ˜ s ( x, t ) İ K | s |, K ! 39) where K D  K. 41) i 1 Submitting Eqs. 42) Simulation Example We choose a plant as follows: x 25 x  133u (t )  d (t ) Therefore f ( x, t ) 25 x , b 133. 10, ideal position signal is r sin (2St ), choose c 25, then we can get D 50.

30. 29) instead of switch function (in program M 2), the simulation results are shown in Fig. 31  Fig. 33. 0*sin(t); dx(1)=x(2); dx(2)=-a*x(2)+b*ut+dt; References [1] Itkis U. Control System of Variable Structure. New York: Wiley, 1976 [2] Hung JY, Gao W, Hung JC. Variable Structure Control: A Survey, IEEE Transaction on Industrial Electronics, 1993,40(1): 2  22 [3] Edwards C, Spurgeon S. com Abstract This chapter introduces several normal sliding mode controllers design, including sliding mode control based on nominal model, global sliding mode control, sliding mode control based on linearization feedback technology and sliding mode control based on low pass filter.

Download PDF sample

Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation by Jinkun Liu, Xinhua Wang


by Mark
4.2

Rated 4.99 of 5 – based on 38 votes