Emerging Trends in Sliding Mode Control: Theory and Application (Studies in Systems, Decision and Control, 318)

✍ Scribed by Axaykumar Mehta (editor), Bijnan Bandyopadhyay (editor)

• Publisher: Springer
• Year: 2020
• Tongue: English
• Leaves: 429
• Category: Library

✦ Synopsis

This book compiles recent developments on sliding mode control theory and its applications. Each chapter presented in the book proposes new dimension in the sliding mode control theory such as higher order sliding mode control, event triggered sliding mode control, networked control, higher order discrete-time sliding mode control and sliding mode control for multi-agent systems. Special emphasis has been given to practical solutions to design involving new types of sliding mode control. This book is a reference guide for graduate students and researchers working in the domain for designing sliding mode controllers. The book is also useful to professional engineers working in the field to design robust controllers for various applications.

✦ Table of Contents

Preface
Contents
About the Editors
Homogeneous Sliding Modes in Noisy Environments
1 Introduction
2 Preliminaries
2.1 Stability of Differential Inclusions
2.2 Weighted Homogeneity
3 Homogeneity Approach to Output Regulation Under Uncertainty
4 Homogeneous Control Templates
4.1 Recursion in the Relative Degree
5 Filtering SM-based Differentiation
5.1 Homogeneous Differentiation
5.2 Hybrid (Bi-homogeneous) Filtering Differentiators
6 Discretization of Differentiators and Controllers
6.1 Discretization of Differentiators
6.2 Output-Feedback Discretization
7 Filtering Noises
7.1 Filtering Noises in Continuous Time
7.2 Filtering Noises in Discrete Time
8 Numeric Differentiation
8.1 Numeric Homogeneous Differentiation
8.2 Numeric Hybrid Differentiation
8.3 Comparison with the Kalman Filter
9 Output-Feedback Control Simulation
9.1 Homogeneous SM Control Development
9.2 Output-Feedback Control of the Integrator Chain
9.3 Output-Feedback Robot SMC
10 Conclusion
References
A Lyapunov based Saturated Super-Twisting Algorithm
1 Introduction
2 Problem Statement
3 Saturated Super-Twisting Algorithm
4 Saturated Super-Twisting Algorithm with Perturbation Estimator
5 Comparison of the Algorithms
5.1 Example 1
5.2 Example 2
6 Experiments
7 Conclusions
References
Sliding Mode Control based Tracking of Non-Differentiable Reference Functions
1 Introduction
2 Motivation
3 The Tracking Problem
4 Sliding Mode Control in Tracking Problems
5 The Switch-Controlled RL Circuit: A Case Study
6 Tracking of Constant and Smooth Reference Functions
7 Preliminaries of Fractional Calculus
8 Fractional-Order Sliding Mode Control
9 The Fractional Calculus Approach to Tracking Problem
10 General Class of Nonlinear Systems Affine in Control
11 Simulation Results
12 Conclusions
References
State Boundedness in Discrete-Time Sliding Mode Control
1 Introduction
2 Discrete-Time Sliding Mode Control
2.1 Considered Class of Systems
2.2 Closed-Loop Stability
2.3 Reaching Law Approach
3 State Error in Sliding Mode Control
4 Special Cases
4.1 Matched Perturbations
4.2 Dead-Beat Control
4.3 Switching-Type Quasi-sliding Motion
5 DSMC with Arbitrary Relative Degree Sliding Variables
5.1 Closed-Loop Stability for Relative Degree r Sliding Variables
5.2 Reaching Law Approach for Relative Degree r Sliding Variables
6 State Error in DSMC with Relative Degree r Variables
7 Special Cases in DSMC with Relative Degree r Variables
7.1 Dead-Beat Control
7.2 Switching-Type Quasi-sliding Motion
8 Simulation Example
9 Conclusions
References
Discrete Stochastic Sliding Mode with Functional Observation
1 Introduction
1.1 Main Focus
1.2 Organization of Chapter
2 Background
2.1 Discrete-Time Sliding Mode Control for Stochastic Systems
2.2 Observer-Based SMC for Discrete-Time Stochastic Systems
3 Functional Observer-Based SMC for Systems Without Uncertainty
3.1 Sliding Function and Controller Design
3.2 Synthesis of Control Law
3.3 Design of Functional Observer
3.4 Simulation Results
4 Functional Observer-Based SMC for Stochastic Systems with Unmatched Uncertainty
4.1 Sliding Function and Controller Design
4.2 Linear Functional Observer-Based SMC Design
4.3 Simulation Example and Results
5 Conclusions
References
Design of Event-Triggered Integral Sliding Mode Controller for Systems with Matched and Unmatched Uncertainty
1 Introduction
2 Problem statement and preliminaries
2.1 Integral sliding mode control
3 Design of Event-triggered ISMC
3.1 Inter-Execution Event Time
4 Simulation Result
5 Conclusion
References
Design of Periodic Event-Triggered Sliding Mode Control
1 Introduction
2 Problem Statement
3 Main Result
3.1 Design of SMC
3.2 Periodic Triggering Mechanism
3.3 Stability Analysis
4 Simulation Results
5 Conclusion
References
Sliding Modes in Consensus Control
1 Introduction
2 Consensus Control
2.1 Algebraic Graph Theory
2.2 Consensus Control Problems
3 Sliding Modes in Consensus Control
3.1 SMC for Leaderless Consensus Reaching
3.2 SMC in Leader-Follower Consensus
References
On Fixed-Time Convergent Sliding Mode Control Design and Applications
1 Introduction
2 Typical Types of Convergence
2.1 Asymptotic Convergence
2.2 Finite-Time Convergence
2.3 Fixed-Time Convergence
3 Continuous Finite-Time Sliding Mode Controller with Fixed-Time Convergence
3.1 Problem Formulation
3.2 Control Design
3.3 Simulation Results
4 An Application to Network Systems
4.1 Fixed-Time Second-Order Consensus in Multiagent Systems
5 Summary
References
Discrete Higher-Order Sliding Mode Leader-Following Consensus Protocols for Homogeneous Discrete Multi-Agent System
1 Introduction
2 Graph Theory and Problem Construction
2.1 Graph Theory ch10PATEL2019
2.2 Problem Construction of Leader-Following Homogeneous DMAS
3 DSM Protocol for the Consensus of Homogeneous DMAS
3.1 Review of Higher-Order Discrete Sliding Mode Control Having Relative Degree More Than One
3.2 Discrete Higher-Order Sliding Mode (DHSM) Protocol Using Reaching Law Approach for Consensus of DMAS
3.3 DHSM Protocol for the Consensus of Homogeneous DMAS
4 Experimental Setup
4.1 2-DOF Serial Flexible Joint Robotic Arm (2DOFSFJ)
4.2 Mathematical Model
4.3 Protocol Implementation
5 Result Discussion
5.1 Result Discussion Using Reaching Law
5.2 Result Discussion Using DSTA
6 Conclusion
References
State and Disturbance Estimation Using Fast Output Sampling Approach for Robust Motion Control Systems
1 Introduction
2 Motivation
3 Problem Statement
4 MROF for State and Disturbance Estimation
5 Simulation Results
6 Experimental Results
7 Conclusions
References
Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller
1 Introduction
2 Dynamic Model and Problem Statement
2.1 Pressure Dynamics Equations
2.2 Equations of Fluid Motion
2.3 Piston Motion Equation
3 Controller Design
3.1 Unknown Input Observer
3.2 Design of u0
3.3 Position Accuracy
4 Simulation and Experimental Results
4.1 Simulation Results
4.2 Experimental Results
5 Conclusions
References
Control of Single Stage Inverters and Second-Order Ripple Regulation Using Sliding Mode Control
1 Introduction
2 Problem Formulation
3 Literature Review
4 Proposed Methodology
5 Control Law for qZSI
6 Control Law for eqSBI
7 Current and Voltage Reference and Derivation of Boundary Conditions
7.1 Bounds for qZSI
7.2 Bounds for eqSBI
8 Stability of Proposed Control
8.1 Derivation of Low Pass Filter Time Constant for Current Reference Generation
9 Effect of Low Pass Filter Time Constant on Inductor Impedance
10 PWM Generation Logic
11 Simulation Results
11.1 SRC Control for qZSI
11.2 SRC Control of eqSBI
12 Experimental Results
12.1 DC Voltage Boost, Without Impedance Control
12.2 With Impedance Control
12.3 Ripple Control Explanation
13 Conclusion
References
Sliding Mode Direct Power Control of a Grid-Connected DFIG Using an Extended State Observer
1 Introduction
1.1 Main Contribution
1.2 Structure of the Paper
2 Description of DFIG-based Wind Generation System
2.1 Modelling of Wind Turbine and Drive Train
2.2 DFIG Model in Stationary Reference Frame
3 Control of DFIG
4 Proposed ESO-based SM-DPC Scheme
4.1 Extended State Observer
4.2 Sliding Manifold
4.3 Control Law
4.4 Stability
5 SM-DPC Scheme
6 System Implementation
7 Simulation Results
7.1 Comparative Studies
7.2 Estimation of Stator Active and Reactive Powers
8 Conclusion
References
Robust Stabilization of a Class of Underactuated Mechanical Systems of 2 DOF via Continuous Higher-Order Sliding-Modes
1 Introduction
2 Class-I of Mechanical Systems with Two DOF
2.1 Uncertain Model
2.2 Application Systems: RWP and TORA
3 Design of a Local Finite-Time Stabilizing (LFTS) Controller
3.1 Problem Statement
3.2 Controller Design
3.3 Gain Design and Scaling
3.4 Simulation Results
3.5 Experimental Validation: RWP System
4 Design of a Globally Asymptotically Stabilizing (GAS) Controller
4.1 Problem Statement
4.2 Controller Design
4.3 RWP Controller Design
4.4 TORA Controller Design
4.5 Simulation Results
4.6 Experimental Validation: RWP System
5 Conclusions
References
Industry-Grade Robust Controller Design for Constant Voltage Arc Welding Process
1 Introduction
2 Constant Voltage Arc Welding Process
3 Configuring Industry Grade Controller for CV Process
4 Robust Motion Control for CV Process
4.1 Implementation of PI Control
4.2 SOSM Control of Wire Feeder and Its Implementation
4.3 Modified SOSM Function and Its Implementation
5 Controller Design for Control of Current in CV Process
6 Implementation of Robust Current Control Module for CV Process
7 Conclusion
References