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Syllabus7859ECE ME15

This document provides information about the course "Sliding Mode Control in Electro-Mechanical Systems" including the instructor details, textbook, prerequisites, grading breakdown, goals and outline. The main goal of the course is to demonstrate the beneficial properties of sliding mode control including separation of system motion into lower dimensions and low sensitivity to variations. The course covers topics such as mathematical background, design methods, applications to electric motors and mobile robots, and methods to suppress chattering. It is a 3 credit course with homework, midterm and final exams assessing students.

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Kirti Deo Mishra
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101 views3 pages

Syllabus7859ECE ME15

This document provides information about the course "Sliding Mode Control in Electro-Mechanical Systems" including the instructor details, textbook, prerequisites, grading breakdown, goals and outline. The main goal of the course is to demonstrate the beneficial properties of sliding mode control including separation of system motion into lower dimensions and low sensitivity to variations. The course covers topics such as mathematical background, design methods, applications to electric motors and mobile robots, and methods to suppress chattering. It is a 3 credit course with homework, midterm and final exams assessing students.

Uploaded by

Kirti Deo Mishra
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Sliding Mode Control in Electro-Mechanical Systems

ECE 7859 SPRING 2015 Call # 31521


Room: Bolz Hall 432 Class time: Tuesday, Thursday 3:55 5:15 pm
Instructor Vadim Utkin Office: Dreese Lab. 456
Phone: 292 6115
E-mail: [email protected]
Office hours: Tuesday, Thursday 10:30am 12:00 pm.
Text Book
V. Utkin, Yu. Guldner, and J. Shi, Sliding Modes in Control in
Electromechanical Systems, Taylor&Frencis, 2009.
Additional Reading References
1. V. Utkin, Sliding Modes in Control and Optimization.
Springer Verlag, 1992.
2. Deterministic Non-Linear Control, A.S. Zinober, Ed.,
Peter Peregrinus Limited, UK, 199O.
3. Variable Structure Control for Robotics and
Aerospace Applications, K-K. D. Young, Ed., Elsevier Science
Publishers B.V., Amsterdam, 1993.
4. Variable Structure and Lyapunov Control, A.S.Zinober,
Ed., Springer Verlag, London, 1993.
5. V. Utkin, Sliding Modes and their Applications in Variable
Structure Systems, Mir Publisher, Moscow, 1978.
Pre-requisite: Courses on state space based control theory (EE 750 or similar).
Grading
Homework
30%
Midterm Exam 30%
Final Exam
40%
Credit
3
Homework 4 HW's (February 3, February 19, March 3, April 7)
Exams

Midterms (February12, March 10, April 14)


Final
April 29-May 5 (Exam week)

Goal of the Course


The main goal of the course is to demonstrate the beneficial properties of
sliding mode control which enables separation of the overall system
motion into independent partial components of lower dimensions
and low sensitivity to plant parameter variations and disturbances.
These properties make sliding modes an efficient tool to control
high order dynamic plants operating under uncertainty conditions
which is common for control in a wide range of modern technology
processes. The potential of control resources may be used to the
fullest extent within the framework of nonlinear control methods
since the actuator limitations and other performance specifications
may be included in the design procedure.

The scope of sliding mode control studies embraces heterogeneous


problems (mathematical methods, design principles, applications). The
major attention will be paid to sliding mode control design for finitedimensional systems, governed by ordinary differential equations.
Recent developments for infinite-dimensional and discrete-time systems
will be provided.
The design methods will be discussed in the context of applications to show
the advantages of the sliding mode control methodology. The versatility of
the application examples by their physical nature and the goal of control tasks
is selected to utilize sliding mode control for electric motors, power converters,
manipulators, mobile robots.
To overcome implementation difficulties, special attention will be paid to suppression
of chattering caused by unmodeled dynamics.

Course Outline:
- Sliding mode control
Examples of dynamic systems with sliding modes.
Ch.1(pp.1-15)
Sliding modes in relay and variable structure systems (1st week)
-

Mathematical background
Ch.2(pp.17-40)
Differential equations with discontinuous right-hand sides
Regularization methods
Equivalent control method.
Sliding mode existence conditions
(2,3 weeks)
- Design methods
Decomposition, regular form of motion equations.
Unit control. Second order sliding mode.
Eigenvalue placement in linear systems. Ackermann
formula.
Control under uncertainty condition.
Integral sliding mode

Ch.3(pp.41-60)
Ch.5(pp.93-96, 103-110)

Ch.5 (pp.96-103)
Ch.7 (pp.139-143)
(4,5 weeks)
- Chattering problem: systems with unmodeled dynamics, Ch.8 (pp.159-168,
motion separation in singularly perturbed systems,
175-179, 187-203)
sliding mode in systems with observers.
Chattering suppression methods
(6 week)
- Discrete-time sliding mode control
Definitions, design methods,
control in linear systems

Ch.9(pp205-216)
(7,8 weeks)

- Control of electric motors


Motion equations.
Speed, position, current and flux control.
Speed, acceleration, load torque and flux observers.
-Power convertor control
Buck, bust, multiphase converters
- Control of manipulators
Motion equations.
Position and speed control.
- Lumped control of flexible longitudinal
and rotational oscillations
- Automotive control

Ch.10(pp224-238,
240-266,271-279)
(9,10 weeks)
Ch.11 (pp.321-351)
(11th week)
Ch.12(pp.397-405,412-416)
(11th week)
Ch.9 (pp.218-221)
(12th week)
Ch.13 (pp.455-467)
(13th week)
Ch.12(pp.423-433)

- Control of mobile robots


Motion equations
Artificial potential field method for navigation and control
Nonholonomic mobile robots
(14th week)

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