Control Systems

Download Advances and Applications in Sliding Mode Control systems by Ahmad Taher Azar PDF

By Ahmad Taher Azar

This e-book describes the advances and functions in Sliding mode keep an eye on (SMC) that's universal as a strong technique to take on doubtful nonlinear structures. The e-book is prepared into 21 chapters that have been organised via the editors to mirror a few of the issues of sliding mode keep watch over. The ebook offers the reader with a extensive variety of fabric from first rules as much as the present state-of-the-art within the sector of SMC and statement provided in a transparent, matter-of-fact kind. As such it truly is applicable for graduate scholars with a simple wisdom of classical regulate thought and a few wisdom of state-space equipment and nonlinear structures. The ensuing layout approaches are emphasised utilizing Matlab/Simulink software.

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Serrano Then in order to stabilize the system the updating law of the variable parameter must be: ˙ q˙r , q¨r )Γ (58) ψ˙ T = −S T Y (q, q, Therefore the derivative of the Lyapunov function becomes in: V˙ (S, ψ) ≤ − |S| τ (59) So the system is asymptotically stable with the updating law of the adaptive parameter ψ. This completes the proof of the theorem. In the next section an example of the stabilization of the Furuta pendulum by an ASMC is shown to illustrate the system performance. 2 Example 3 In this section an illustrative example of the control and stabilization of the Furuta pendulum by an ASMC is shown.

T. E. 1 Derivation of the Adaptive Sliding Mode Controller of the Furuta Pendulum Adaptive sliding mode has successfully proved that is an efficient control technique for different kinds of systems (Yu and Ozguner 2006) therefore this control approach has better disturbance rejection properties than classical SMC, for this reason this control strategy is convenient for the control of underactuated mechanical systems as explained in this section. Adaptive sliding mode control is suitable for the control of underactuated mechanical systems due to its robustness and disturbance rejection properties when unmodelled dynamics and disturbance are present in the system, this controller updates its adaptive gain online improving the performance of the controller and therefore the asymptotical stability of the system is ensured by this control strategy.

2014). One important challenging characteristic of this robot is having the dynamic equations which are nonlinear and demanding to control. To this end, it is crucial to employ a nonlinear controller which is robust with regard to disturbances and uncertainty in order to provide stable walking for biped robots (Andalib Sahnehsaraei et al. 2013). In this regard, sliding mode control is an effectual control method in terms of providing low tracking error in contrast to PID control (Lu et al. 2011) and linear feedback control (Basin et al.

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