By Jinkun Liu, Xinhua Wang
"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.
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Extra info for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation
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  Itkis U. Control System of Variable Structure. New York: Wiley, 1976  Hung JY, Gao W, Hung JC. Variable Structure Control: A Survey, IEEE Transaction on Industrial Electronics, 1993,40(1): 2 22  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.
Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation by Jinkun Liu, Xinhua Wang