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Integral Sliding Mode Control: Capital University of Science and Technology, Islamabad

The document summarizes integral sliding mode control (ISMC). [1] ISMC aims to ensure system insensitivity from the initial time instant by eliminating the reaching phase through use of an integral manifold. [2] The integral manifold adds an integral term (z) to the conventional sliding surface (s0) to achieve trajectories on the manifold from the beginning. [3] The ISMC controller consists of a discontinuous part (u1) to confine trajectories to the manifold and a continuous part (u0) to steer trajectories to equilibrium.

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Omar Zeb Khan
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33 views16 pages

Integral Sliding Mode Control: Capital University of Science and Technology, Islamabad

The document summarizes integral sliding mode control (ISMC). [1] ISMC aims to ensure system insensitivity from the initial time instant by eliminating the reaching phase through use of an integral manifold. [2] The integral manifold adds an integral term (z) to the conventional sliding surface (s0) to achieve trajectories on the manifold from the beginning. [3] The ISMC controller consists of a discontinuous part (u1) to confine trajectories to the manifold and a continuous part (u0) to steer trajectories to equilibrium.

Uploaded by

Omar Zeb Khan
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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Integral Sliding Mode Control

Professor Aamer Iqbal Bhatti

Department of Electrical Engineering


Capital University of Science and Technology, Islamabad

April 26, 2019


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 1 / 16
Table of contents

1 Introduction

2 Integral Sliding Mode Control (ISMC)

3 ISMC Theory


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 2 / 16
Introduction

Why ISMC?

To ensure insensitivity
from the initial time
instant
A justification for the
assumption of nominal
systems

Trajectories on the manifold from the beginning – Reaching phase


elimination
SMC without reaching phase is known as Integral Sliding Mode
Control


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 3 / 16
Integral Sliding Mode Control (ISMC)

ISMC

Reaching phase elimination achieved using Integral Manifold

Integral manifold (s = s0 + z) Integral Manifold


s0 : The conventional linear 0.5

combination of states
z: The integral term (added
dynamics) - Function of systems’ Zoomed
0.03

Amplitude
states and parameters
0
The ISMC controller is an algebraic
−0.03
sum (u = u1 + u0 ) 5 6 7

u1 : The discontinuous part - confines


trajectories in the manifold
u0 : The continuous part - stares the −0.5
0 2 4 6 8 10
trajectories to equilibrium Time (sec)

The property of order reduction is sacrificed



c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 4 / 16
Integral Sliding Mode Control (ISMC)

ISMC Merits

Guaranteed robustness from the beginning


Reduced Chattering - Lesser effort required for confining trajectories
instead of forcing trajectories, in/to the manifold
Ideal performance from a controller designed for a nominal system
which was not nominal in practice


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 5 / 16
ISMC Theory

ISMC Theory

Consider a SISO nonlinear system


ẋ(t) = f (x, t) + B(x, t)u(t) + ξ(x, t) (1)

Assumptions Terms
|B(x, t)| =
6 0 - Matrix is full rank x(t) ∈ <n - State vector
The system is controllable u(t) ∈ < - Control input
The ξ(.) are of matched nature f (x, t) : <n × < → <n -
ξ(x, t) = B(x, t)η (2) Smooth vector field
The ξ(.) are norm bounded B(x, t) : <n × < → <n -
||ξ(x, t)|| ≤ δ Input channel
ξ(x, t) - Uncertain-
ties/disturbances


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 6 / 16
ISMC Theory

ISMC Theory Contd...

The Sliding Mode Dynamics, which is the nominal system now,


operated under the effect of u0 = −Kxnom is given by:
ẋnom = f (xnom , t) + B(xnom , t)u0 (3)
The ISMC has to enforce these nominal dynamics from the
very beginning
x(0) = xnom (0),
and to retain this afterwards
x(t) = xnom (t).
The term responsible to achieve this is u1 (t)
u0 (t) stares the dynamics in (3) to an equilibrium


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 7 / 16
ISMC Theory

ISMC Theory Contd...

The integral manifold is:


s(x) = s0 (x) + z. (4)
n
X
Where s0 (x) = ci xi while z is the integral term
i=1
The time derivative of (4), along the dynamics of (1), with
u(t) = u0 (t) + u1 (t), takes the form:
ṡ = ∇s0 [f (x, t) + B(x, t)u0 + B(x, t)u1 + ξ(x, t)] + ż (5)
The integral term is now selected as a function of f (.) and u0 .
∂s0 (x, t)
ż = − (f (x, t) + B(x, t)u0 ) (6)
∂x


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 8 / 16
ISMC Theory

ISMC Theory Contd...

This choice of the z, reduces the dynamics in (5) to the following


form:
ṡ = ∇s0 [B(x, t)u1 + ξ(x, t)] (7)
In order to achieve the convergence condition, the discontinuous
control may be selected as follows:
u1 (t) = ueq − ksign(s),


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 9 / 16
ISMC Theory

Some Key Points

As ISMC is characterized by no reaching phase


s(x0 ) = 0
where x0 = x(0) is the initial condition
Thus we have an obvious limitation on the initial conditions
z(x0 ) = −s(x0 ).


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 10 / 16
ISMC Theory

Example

Consider a simple second order SISO nonlinear system


ẋ1 = x2
ẋ2 = −x1 + x2 + x1 x2 + b(u + ∆(t)) (8)
Where, −1 ≤ ∆(t) = sin(t) ≤ 1 is a bounded matched external
disturbance and b is a non-zero constant.


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 11 / 16
ISMC Theory

Example Contd...

According to the Lyapunov States of the System


indirect method/Jacobian 600
x1 x2
matrix for equilibrium point 500
(x1 , x"2 ) = (0, 0)# is:
∂f1 ∂f1   400
0 1

Amplitude
dx
J = ∂f2 ∂f2 1 dx 2 =
dx dx
−1 1 300
1 2

Which has Eigen values at 200

(0.5 ± 0.866j)
100
Inherently the system is unstable
0
0 0.1 0.2 0.3 0.4 0.5 0.6
Time (sec)

Figure: Open Loop Response


Hence the control objective is to stabilize this system in the
presence of the given sinusoidal disturbance

c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 12 / 16
ISMC Theory

ISMC Design

Sliding surface:
s = s0 + z
Where z is the integral term while,
s0 = Cx1 + x2
Note that system is nominal if ∆(t) = 0
Taking u1 = ueq − Msign(s) where, Msign(s) = 0 because
s = 0, ∀t ≥ 0. Msign(s) is activated when the system trajectories
strives to leave the manifold


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 13 / 16
ISMC Theory

Example Contd...

Take derivative of s along the trajectories of the nominal system


ṡ = ṡ0 + ż
Now equate for ż in the steady state i.e., ṡ = 0
ż = −u0
Hence the sliding mode dynamics,
ẋ1 = x2
ẋ2 = u0
can be stabilized using any linear control technique e.g., state
feedback u0 = −Kx(t)


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 14 / 16
ISMC Theory

Example Contd...
State Trajectories
5
x x Integral term
1 2

Amplitude 0

−5

−10
0 2 4 6 8 10
Time (sec)

∆(t) = Sin(ω t), ω = 3 rad/sec s = 2x1 + x2 + z


1 1
0.8
0.6
0.4
Zoomed
Amplitude

0.03
Amplitude
0.2
0 0
−0.2 −0.03
5 8
−0.4
−0.6
−0.8
−1 −1
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 15 / 16
ISMC Theory

Summary

Check the controllability


Convert the system into CCF/Regular Form
Construct the continuous controller for the ideal/nominal system
Construct the integral manifold
Construct the controller
Check the close loop stability
Simulate the system in close loop with the designed controller


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 16 / 16

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