Scribd
Upload
36 views

Introduction To Sliding Mode Control

The document discusses sliding mode control, a robust control method that can achieve asymptotic convergence even in the presence of disturbances. It covers the principles of sliding mode control including sliding surface design and reaching the sliding surface. It also discusses the chattering phenomenon and methods to reduce chattering, as well as advantages and applications of sliding mode control.

Uploaded by

blogger8212
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
36 views

Introduction To Sliding Mode Control

The document discusses sliding mode control, a robust control method that can achieve asymptotic convergence even in the presence of disturbances. It covers the principles of sliding mode control including sliding surface design and reaching the sliding surface. It also discusses the chattering phenomenon and methods to reduce chattering, as well as advantages and applications of sliding mode control.

Uploaded by

blogger8212
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 15

UNIVERSITY OF LUCKNOW

Faculty of Engineering & Technology

PRESENTATION
on
SLIDING MODE CONTROL
Presented By : Submitted By :

TAHIRA FAZAL Er. Pavan Kr. Singh


ROLL No. - 2110013095035 Er. Wazid Ali
CONTENTS
• Robustness to Uncertainty and Disturbances Introduction

• Variable Structure Control

• How SMC is VSC

• Principles of Sliding Mode Control

• Sliding Surface Design

• Chattering Phenomenon

• Advantages of SMC

• Applications of SMC

• Conclusion
Introduction
Robust control methods are supposed to reach the desired
output and give the desired performance in presence of
uncertain disturbances.
The problem is to design a control law which drives the output to
zero as time approaches infinity.
Asymptotic convergence is to be achieved in presence of
unbounded disturbance.
One particular approach to robust controller design is the so
called Sliding Mode Control technique.
Variable Structure Control
A VSC System is a special type of Nonlinear system characterized by a
discontinuous control which change the system structure when the
states reach the Intersection of sets of sliding surface.
Variable structure systems are atype of hybrid dynamic system
consisting of a family of subsystem along with one or more rules ehich
governs the switching among them.
Variable Structure Systems exhibit both continuous and discrete
states of behavior important for modeling.
The system behaves independently of its bgeneral dynamical
characteristics and system disturbances once the controller has driven
the system into a sliding mode.
How SMC is VSC ?
• It is a nonlinear control method that alters the dynamics of a nonlinear system by
application of a high-frequency switching control. The state feedback control law is
not a continuous function of time.
• Instead, it switches from one continuous structure to another based on the current
position in the state space. Hence, sliding mode control is a variable structure
control method.
• The multiple control structures are designed so that trajectories always move
towards a switching condition, and so the ultimate trajectory will not exist entirely
within one control structure. Instead, the ultimate trajectory will slide along the
boundaries of the control structures know as the Sliding surface.
REACHING PHASE:
In this phase a trajectory , starting form a nonzero initial condition
and reach to sliding surface .

SLIDING SURFACE:
In which the trajectory on reaching the sliding surface , remains
there for all further times and thus evolves according to the
dynamics specified by the sliding surface.
Principles of Sliding Mode
Control

Sliding mode control (SMC) is a nonlinear control technique


featuring remarkable properties of accuracy, robustness, and easy
tuning and implementation. SMS systems are designed to drive the
system states onto a particular surface in the state space, named
sliding surface. Once the sliding surface is reached, sliding mode
control keeps the states on the close neighborhood of the sliding
surface. Hence the sliding mode control is a two part controller
design. The first part involves the design of a sliding surface so that
the sliding motion satisfies design specifications. The second is
concerned with the selection of a control law that will make the
switching surface attractive to the system state.
Sliding Surface Design

• The sliding surface is a critical component in SMC. It defines


the behavior we want to achieve.
• Once the system reaches the sliding surface, SMC keeps the
states in the vicinity of this surface.
• The sliding surface is typically defined as a function of the
system states.
• The control effort ensures that the system remains on or
near the sliding surface.
• Keep the states close to the sliding surface once reached.
CHATTERING PHENOMENON
In practical application of sliding mode control, the undesirable phenomenon of oscillations having
finite frequency and amplitude , which is known as ‘Chattering’.
Chattering leads to low control accuracy, high wear of moving mechanical parts, and high heat
losses in power circuits.

There are two reasons which leads to shattering:

First, the chattering can be caused by fast dynamics which were neglected in the ideal model. These
’Unmodeled’ dynamics with small time constants are usually disregarded in models of
servomechanisms, sensors and data processors.
The second reason of chattering is utilization of digitl controllers with finite sampling rate, which
causes so called ‘discretization chatter’.
CHATTERING -REDUCTION
Chattering could be reduced or suppressed using different technique
such as:
• Non – Linear gains

• Dynamics extensions

• Higher order sliding mode control


Advantages of SMC
• Robustness to Uncertainty and Disturbances

• Decoupling and Reduced Complexity

• Discontinuous Control Actions

• Finite-Time Stability
Applications of SMC
1. Robotics
• SMC is widely used in robot manipulators for precise and
robust control of their movements.
• It ensures stability even in the presence of uncertainties
and external disturbance

2. Power Electronics
• SMC is applied in power electronics systems, such as motor
drives and converters
• It provides fast transient response and robustness against
parameter variations

3. Electrical Motors and Generators


• SMC is effective in controlling the speed and torque of electric
motors and generators
• It handles load variations and disturbances well
• …………etc.
Conclusion
• SMC has been an important theoretical research field. Today, it is becoming a good source of
solutions to real-world problems. Its potential is limited only by the imagination of the people
working in process control. Therefore, the prospects for the application for SMC in the processing
industries are immense

• Main benefits of sliding mode control are the invariance and quality properties and the ability to
minimize the problems into sub-tasks of lower in balance.

• However, it has been shown that imperfections in switching devices and delays were inducing
REFERENCE

• I J NAGRATH M GOPAL , sliding mode control

• Williamselby paper on sliding mode control for


translational trajectory

• Slotine, J. J., and Li, W ., applied Nonlinear control,


THANK YOU

You might also like