By Jinkun Liu, Xinhua Wang
"Advanced Sliding Mode keep an eye on for Mechanical platforms: layout, research and MATLAB Simulation" takes readers in the course of the simple recommendations, masking the latest study in sliding mode regulate. The e-book is written from the viewpoint of functional engineering and examines quite a few classical sliding mode controllers, together with non-stop time sliding mode keep watch over, discrete time sliding mode keep watch over, fuzzy sliding mode keep an eye on, neural sliding mode keep an eye on, backstepping sliding mode keep an eye on, dynamic sliding mode keep an eye on, sliding mode keep watch over in line with observer, terminal sliding mode keep watch over, sliding mode keep an eye on 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 an eye on. Dr. Jinkun Liu works at Beijing college 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
40), the simulation results are shown in Fig. 24 and Fig. 25. 1 Digital Simulation of Sliding Mode Control Basic Theory In practical engineering we often use digital control. The digital control system structure is shown in Fig. 26, and the corresponding program diagram of the system is shown in Fig. 27. 2 Simulation Example We choose a plant as follow: x 25 x 133u (t ) d (t ) Therefore f ( x, t ) 25 x, b 133. 001. 1. Choose ideal position signal as r sin(t ), and c 5. Adapting controller Eq.
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. 33) where b ! 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.
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. One way to alleviate the chattering is to use the quasi-sliding mode method which can make the state stay in a certain range at ' neighborhood. Often we name ' as the boundary layer. In a continuous system, there are two common methods for the quasi-sliding mode design. 30) where ' is called “the boundary layer” which is shown in Fig.