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| sliding mode control example: Sliding Mode Control Andrzej Bartoszewicz, 2011-04-11 The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area. |
| sliding mode control example: Sliding Mode Control in Electro-mechanical Systems Vadim Utkin, Juergen Guldner, Ma Shijun, 1999-04-22 Sliding Mode Control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. They provide inherent order reduction, direct incorporation of robustness against system uncertainties and disturbances, and an implicit stability proof. They also allow for the design of high performance control systems at low costs. SMC is particularly useful for electro-mechanical systems because of its discontinuous structure. In fact, since the hardware of many electro-mechanical systems (such as electric motors) prescribes discontinuous inputs, SMC has become the natural choice for direct implementation. The book is intended primarily for engineers and establishes an interdisciplinary bridge between control science, electrical and mechanical engineering. |
| sliding mode control example: Advanced Sliding Mode Control for Mechanical Systems Jinkun Liu, Xinhua Wang, 2012-09-07 Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore. |
| sliding mode control example: Road Map for Sliding Mode Control Design Vadim Utkin, Alex Poznyak, Yury V. Orlov, Andrey Polyakov, 2020-04-13 This book is devoted to control of finite and infinite dimensional processes with continuous-time and discrete time control, focusing on suppression problems and new methods of adaptation applicable for systems with sliding motions only. Special mathematical methods are needed for all the listed control tasks. These methods are addressed in the initial chapters, with coverage of the definition of the multidimensional sliding modes, the derivation of the differential equations of those motions, and the existence conditions. Subsequent chapters discusses various areas of further research. The book reflects the consensus view of the authors regarding the current status of SMC theory. It is addressed to a broad spectrum of engineers and theoreticians working in diverse areas of control theory and applications. It is well suited for use in graduate and postgraduate courses in such university programs as Electrical Engineering, Control of Nonlinear Systems, and Mechanical Engineering. |
| sliding mode control example: Discrete-time Sliding Mode Control B. Bandyopadhyay, S. Janardhanan, 2005-11-03 Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. With the increasing use of computers and discrete-time samplers in controller implementation in the recent past, discrete-time systems and computer based control have become important topics. This monograph presents an output feedback sliding mode control philosophy which can be applied to almost all controllable and observable systems, while at the same time being simple enough as not to tax the computer too much. It is shown that the solution can be found in the synergy of the multirate output sampling concept and the concept of discrete-time sliding mode control. |
| sliding mode control example: Sliding Mode Control of Switching Power Converters Siew-Chong Tan, Yuk-Ming Lai, Chi-Kong Tse, 2018-09-03 Sliding Mode Control of Switching Power Converters: Techniques and Implementation is perhaps the first in-depth account of how sliding mode controllers can be practically engineered to optimize control of power converters. A complete understanding of this process is timely and necessary, as the electronics industry moves toward the use of renewable energy sources and widely varying loads that can be adequately supported only by power converters using nonlinear controllers. Of the various advanced control methods used to handle the complex requirements of power conversion systems, sliding mode control (SMC) has been most widely investigated and proved to be a more feasible alternative than fuzzy and adaptive control for existing and future power converters. Bridging the gap between power electronics and control theory, this book employs a top-down instructional approach to discuss traditional and modern SMC techniques. Covering everything from equations to analog implantation, it: Provides a comprehensive general overview of SMC principles and methods Offers advanced readers a systematic exposition of the mathematical machineries and design principles relevant to construction of SMC, then introduces newer approaches Demonstrates the practical implementation and supporting design rules of SMC, based on analog circuits Promotes an appreciation of general nonlinear control by presenting it from a practical perspective and using familiar engineering terminology With specialized coverage of modeling and implementation that is useful to students and professionals in electrical and electronic engineering, this book clarifies SMC principles and their application to power converters. Making the material equally accessible to all readers, whether their background is in analog circuit design, power electronics, or control engineering, the authors—experienced researchers in their own right—elegantly and practically relate theory, application, and mathematical concepts and models to corresponding industrial targets. |
| sliding mode control example: Modern Sliding Mode Control Theory Giorgio Bartolini, Leonid Fridman, Alessandro Pisano, Elio Usai, 2008-04-05 This concise book covers modern sliding mode control theory. The authors identify key contributions defining the theoretical and applicative state-of-the-art of the sliding mode control theory and the most promising trends of the ongoing research activities. |
| sliding mode control example: Sliding Mode Control and Observation Yuri Shtessel, Christopher Edwards, Leonid Fridman, Arie Levant, 2013-06-01 The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studies Sliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. |
| sliding mode control example: Variable-Structure Systems and Sliding-Mode Control Martin Steinberger, Martin Horn, Leonid Fridman, 2020-02-10 The book covers the latest theoretical results and sophisticated applications in the field of variable-structure systems and sliding-mode control. This book is divided into four parts. Part I discusses new higher-order sliding-mode algorithms, including new homogeneous controllers and differentiators. Part II then explores properties of continuous sliding-mode algorithms, such as saturated feedback control, reaching time, and orbital stability. Part III is focused on the usage of variable-structure systems (VSS) controllers for solving other control problems, for example unmatched disturbances. Finally, Part IV discusses applications of VSS; these include applications within power electronics and vehicle platooning. Variable-structure Systems and Sliding-Mode Control will be of interest to academic researchers, students and practising engineers. |
| sliding mode control example: Sliding Mode Control In Engineering Wilfrid Perruquetti, Jean-Pierre Barbot, 2002-01-29 Provides comprehensive coverage of the most recent developments in the theory of non-Archimedean pseudo-differential equations and its application to stochastics and mathematical physics--offering current methods of construction for stochastic processes in the field of p-adic numbers and related structures. Develops a new theory for parabolic equat |
| sliding mode control example: Sliding Mode Control in Electro-Mechanical Systems Vadim Utkin, Juergen Guldner, Jingxin Shi, 2017-12-19 Apply Sliding Mode Theory to Solve Control Problems Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications. In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost. Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC. SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs. |
| sliding mode control example: Event-Triggered Sliding Mode Control Bijnan Bandyopadhyay, Abhisek K. Behera, 2018-02-20 This edited monograph provides a comprehensive and in-depth analysis of sliding mode control, focusing on event-triggered implementation. The technique allows to prefix the steady-state bounds of the system, and this is independent of any boundary disturbances. The idea of event-triggered SMC is developed for both single input / single output and multi-input / multi-output linear systems. Moreover, the reader learns how to apply this method to nonlinear systems. The book primarily addresses research experts in the field of sliding mode control, but the book may also be beneficial for graduate students. |
| sliding mode control example: Sliding Modes in Control and Optimization Vadim I. Utkin, 2013-03-12 The book is devoted to systems with discontinuous control. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. Interestingly, the results obtained by specialists in different disciplines have almost always had a significant effect upon the development of the control theory. It suffices to mention works on the theory of oscillations of discontinuous nonlinear systems, mathematical studies in ordinary differential equations with discontinuous righthand parts or variational problems in nonclassic statements. The unremitting interest to discontinuous control systems enhanced by their effective application to solution of problems most diverse in their physical nature and functional purpose is, in the author's opinion, a cogent argument in favour of the importance of this area of studies. It seems a useful effort to consider, from a control theoretic viewpoint, the mathematical and application aspects of the theory of discontinuous dynamic systems and determine their place within the scope of the present-day control theory. The first attempt was made by the author in 1975-1976 in his course on The Theory of Discontinuous Dynamic Systems and The Theory of Variable Structure Systems read to post-graduates at the University of Illinois, USA, and then presented in 1978-1979 at the seminars held in the Laboratory of Systems with Discontinous Control at the Institute of Control Sciences in Moscow. |
| sliding mode control example: Model Free Adaptive Control Zhongsheng Hou, Shangtai Jin, 2013-09-24 Model Free Adaptive Control: Theory and Applications summarizes theory and applications of model-free adaptive control (MFAC). MFAC is a novel adaptive control method for the unknown discrete-time nonlinear systems with time-varying parameters and time-varying structure, and the design and analysis of MFAC merely depend on the measured input and output data of the controlled plant, which makes it more applicable for many practical plants. This book covers new concepts, including pseudo partial derivative, pseudo gradient, pseudo Jacobian matrix, and generalized Lipschitz conditions, etc.; dynamic linearization approaches for nonlinear systems, such as compact-form dynamic linearization, partial-form dynamic linearization, and full-form dynamic linearization; a series of control system design methods, including MFAC prototype, model-free adaptive predictive control, model-free adaptive iterative learning control, and the corresponding stability analysis and typical applications in practice. In addition, some other important issues related to MFAC are also discussed. They are the MFAC for complex connected systems, the modularized controller designs between MFAC and other control methods, the robustness of MFAC, and the symmetric similarity for adaptive control system design. The book is written for researchers who are interested in control theory and control engineering, senior undergraduates and graduated students in engineering and applied sciences, as well as professional engineers in process control. |
| sliding mode control example: Advances and Applications in Sliding Mode Control systems Ahmad Taher Azar, Quanmin Zhu, 2014-11-01 This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software. |
| sliding mode control example: Control of Marine Vehicles Karl Dietrich von Ellenrieder, 2021-06-21 This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author’s considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications. |
| sliding mode control example: Sliding Mode Control in Electro-Mechanical Systems Vadim Utkin, Juergen Guldner, Jingxin Shi, 2017-12-19 Apply Sliding Mode Theory to Solve Control Problems Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications. In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost. Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC. SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs. |
| sliding mode control example: Wheeled Mobile Robot Control Nardênio Almeida Martins, Douglas Wildgrube Bertol, 2021-08-12 This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book. |
| sliding mode control example: Variable Structure Systems Asif Sabanovic, Leonid M. Fridman, Sarah K. Spurgeon, 2004-10-08 This unique book fulfils the definite need for an accessible book on variable structure systems and also provides the very latest results in research on this topic. Divided into three parts - basics of sliding mode control, new trends in sliding mode control, and applications of sliding mode control - the book contains many numerical design examples, so that readers can quickly understand the design methodologies and their applications to practical problems. Primarily aimed at students and researchers in the field, the book will also be useful for practising control engineers. |
| sliding mode control example: Disturbance Observer-Based Control Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen, 2016-04-19 Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applica |
| sliding mode control example: Applications of Sliding Mode Control Nabil Derbel, Jawhar Ghommam, Quanmin Zhu, 2016-10-14 This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry. |
| sliding mode control example: International Workshop on Variable Structure Systems , 2006 |
| sliding mode control example: High-Gain Observers in Nonlinear Feedback Control Hassan H. Khalil, 2017-06-23 For over a quarter of a century, high-gain observers have been used extensively in the design of output feedback control of nonlinear systems. This book presents a clear, unified treatment of the theory of high-gain observers and their use in feedback control. Also provided is a discussion of the separation principle for nonlinear systems; this differs from other separation results in the literature in that recovery of stability as well as performance of state feedback controllers is given. The author provides a detailed discussion of applications of high-gain observers to adaptive control and regulation problems and recent results on the extended high-gain observers. In addition, the author addresses two challenges that face the implementation of high-gain observers: high dimension and measurement noise. Low-power observers are presented for high-dimensional systems. The effect of measurement noise is characterized and techniques to reduce that effect are presented. The book ends with discussion of digital implementation of the observers. Readers will find comprehensive coverage of the main results on high-gain observers; rigorous, self-contained proofs of all results; and numerous examples that illustrate and provide motivation for the results. The book is intended for engineers and applied mathematicians who design or research feedback control systems. |
| sliding mode control example: Investigation of Spatial Control Strategies with Application to Advanced Heavy Water Reactor Ravindra Munje, Balasaheb Patre, Akhilanand Tiwari, 2017-10-13 This book examines the different spatial control techniques for regulation of spatial power distribution in advanced heavy water reactors (AHWR). It begins with a review of the literature pertinent to the modeling and control of large reactors. It also offers a nodal-core model based on finite difference approximation since the AHWR core is considered to be divided into 17 relatively large nodes. Further, it introduces a nonlinear model characterizing important thermal hydraulics parameters of AHWR and integrates it into the neutronics model to obtain a coupled neutronics-thermal hydraulics model of AHWR. The book also presents a vectorized nonlinear model of AHWR and implements it in MATLAB/Simulink environment. The model of the reactor is then linearized at the rated power and put into standard state variable form. It is characterized by 90 states, 5 inputs and 18 outputs. Lastly, it discusses control techniques for a nonlinear model of AHWR. This book will prove to be a valuable resource for professional engineers and implementation specialists, researchers and students. |
| sliding mode control example: Control Of Chaos In Nonlinear Circuits And Systems Bingo Wing-kuen Ling, Herbert Ho-ching Iu, Hak-keung Lam, 2008-12-22 In this book, leading researchers present their current work in the challenging area of chaos control in nonlinear circuits and systems, with emphasis on practical methodologies, system design techniques and applications. A combination of overview, tutorial and technical articles, the book describes state-of-the-art research on significant problems in this area. The scope and aim of this book are to bridge the gap between chaos control methods and circuits and systems. It is an ideal starting point for anyone who needs a fundamental understanding of controlling chaos in nonlinear circuits and systems. |
| sliding mode control example: Mathematical Methods for Robust and Nonlinear Control Matthew C. Turner, Declan G. Bates, 2007-10-23 The underlying theory on which much modern robust and nonlinear control is based can be difficult to grasp. This volume is a collection of lecture notes presented by experts in advanced control engineering. The book is designed to provide a better grounding in the theory underlying several important areas of control. It is hoped the book will help the reader to apply otherwise abstruse ideas of nonlinear control in a variety of real systems. |
| sliding mode control example: Predictive Control for Linear and Hybrid Systems Francesco Borrelli, Alberto Bemporad, Manfred Morari, 2017-06-22 With a simple approach that includes real-time applications and algorithms, this book covers the theory of model predictive control (MPC). |
| sliding mode control example: Applied Nonlinear Control Jean-Jacques E. Slotine, Weiping Li, 1991 In this work, the authors present a global perspective on the methods available for analysis and design of non-linear control systems and detail specific applications. They provide a tutorial exposition of the major non-linear systems analysis techniques followed by a discussion of available non-linear design methods. |
| sliding mode control example: Nonlinear Control Systems Alberto Isidori, 2013-04-17 The purpose of this book is to present a self-contained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985. |
| sliding mode control example: Sliding Modes after the first Decade of the 21st Century Leonid Fridman, Jaime Moreno, Rafael Iriarte, 2011-09-10 The book presents the newest results of the major world research groups working in the area of Variable Structure Systems and Sliding Mode Control (VSS/SMC). The research activity of these groups is coordinated by the IEEE Technical Committee on Variable Structure Systems (VSS) and Sliding Modes (SM). The presented results include the reports of the research groups collaborating in a framework of the Unión European Union – México project of Fondo de Cooperación Internacional en Ciencia y Tecnología (FONCICyT) 93302 titled Automatization and Monitoring of Energy Production Processes via Sliding Mode Control. The book starts with the overview of the sliding mode control concepts and algorithms that were developed and discussed in the last two decades The research papers are combined in three sections: Part I: VSS and SM Algorithms and their Analysis Part II: SMC Design Part III: Applications of VSS and SMC The book will be of interests of engineers, researchers and graduate students working in the area of the control systems design. Novel mathematical theories and engineering concepts of control systems are rigorously discussed and supported by numerous applications to practical tasks. |
| sliding mode control example: The Inverted Pendulum in Control Theory and Robotics Olfa Boubaker, Rafael Iriarte, 2017-10-24 This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum. |
| sliding mode control example: Introduction to Mobile Robot Control Spyros G Tzafestas, 2013-10-03 Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background |
| sliding mode control example: Sliding Mode Control Methodology in the Applications of Industrial Power Systems Jianxing Liu, Yabin Gao, Yunfei Yin, Jiahui Wang, Wensheng Luo, Guanghui Sun, 2020-11-06 This book presents recent advanced techniques in sliding mode control and observer design for industrial power systems, focusing on their applications in polymer electrolyte membrane fuel cells and power converters. Readers will find not only valuable new fault detection and isolation techniques based on sliding mode control and observers, but also a number of robust control and estimation methodologies combined with fuzzy neural networks and extended state observer methods. The book also provides necessary experimental and simulation examples for proton exchange membrane fuel cell systems and power converter systems. Given its scope, it offers a valuable resource for undergraduate and graduate students, academics, scientists and engineers who are working in the field. |
| sliding mode control example: Advanced and Optimization Based Sliding Mode Control: Theory and Applications Antonella Ferrara, Gian Paolo Incremona, Michele Cucuzella, 2019-07-01 A compendium of the authors recently published results, this book discusses sliding mode control of uncertain nonlinear systems, with a particular emphasis on advanced and optimization based algorithms. The authors survey classical sliding mode control theory and introduce four new methods of advanced sliding mode control. They analyze classical theory and advanced algorithms, with numerical results complementing the theoretical treatment. Case studies examine applications of the algorithms to complex robotics and power grid problems. Advanced and Optimization Based Sliding Mode Control: Theory and Applications is the first book to systematize the theory of optimization based higher order sliding mode control and illustrate advanced algorithms and their applications to real problems. It presents systematic treatment of event-triggered and model based event-triggered sliding mode control schemes, including schemes in combination with model predictive control, and presents adaptive algorithms as well as algorithms capable of dealing with state and input constraints. Additionally, the book includes simulations and experimental results obtained by applying the presented control strategies to real complex systems. This book is suitable for students and researchers interested in control theory. It will also be attractive to practitioners interested in implementing the illustrated strategies. It is accessible to anyone with a basic knowledge of control engineering, process physics, and applied mathematics. |
| sliding mode control example: Males With Eating Disorders Arnold E. Andersen, 2014-06-17 First published in 1990. The subject of anorexia nervosa and, more recently, bulimia nervosa in males has been a source of interest and controversy in the fields of psychiatry and medicine for more than 300 years. These disorders, sometimes called eating disorders, raise basic questions concerning the nature of abnormalities of the motivated behaviors: Are they subsets of more widely recognized illnesses such as mood disorders? Are they understandable by reference to underlying abnormalities of biochemistry or brain function? In what ways are they similar to and in what ways do they differ from anorexia nervosa and bulimia nervosa in females? This book will be of interest to a wide variety of people—physicians, psychologists, nurses, social workers, occupational therapists, nutritionists, educators, and all others who may be interested for personal or professional reasons. |
| sliding mode control example: Control Systems of Variable Structure U. Itkis, 1976 |
| sliding mode control example: Sliding Mode Control of Power Converters in Renewable Energy Systems Luis Martinez-Salamero, 2020-06-24 Renewable energies are becoming a must to counteract the consequences of the global warming. More efficient devices and better control strategies are required in the generation, transport, and conversion of electricity. Energy is processed by power converters that are currently the key building blocks in modern power distribution systems. The associated electrical architecture is based on buses for energy distribution and uses a great number of converters for interfacing both input and output energy. This book shows that sliding-mode control is contributing to improve the performances of power converters by means of accurate theoretical analyses that result in efficient implementations. The sliding-mode control of power converters for renewable energy applications offers a panoramic view of the most recent uses of this regulation technique in practical cases. By presenting examples that range from dozens of kilowatts to only a few watts, the book covers control solutions for AC-DC and DC-AC generation, power factor correction, multilevel converters, constant-power load supply, wind energy systems, efficient lighting, digital control implementation, multiphase converters, and energy harvesting. The selected examples developed by recognized specialists are illustrated by means of detailed simulations and experiments to help the reader to understand the theoretical approach in each case considered in the book. |
| sliding mode control example: Recent Developments in Sliding Mode Control Andrzej Bartoszewicz, 2017-06-28 The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. The desirable performance of the plant should be obtained despite the unpredictable influence of the environment on the control system and no matter if the plant parameters are precisely known. Even though the parameters may change with time and load, still the system should preserve its nominal properties and ensure the required behavior of the plant. In other words, the principal objective of control engineering is to design systems that are robust with respect to external disturbances and modeling uncertainty. This objective may be very well achieved using the sliding mode technique, which is the subject of this book. |
| sliding mode control example: Handbook of Research on Modeling, Analysis, and Control of Complex Systems Azar, Ahmad Taher, Kamal, Nashwa Ahmad, 2020-12-05 The current literature on dynamic systems is quite comprehensive, and system theory’s mathematical jargon can remain quite complicated. Thus, there is a need for a compendium of accessible research that involves the broad range of fields that dynamic systems can cover, including engineering, life sciences, and the environment, and which can connect researchers in these fields. The Handbook of Research on Modeling, Analysis, and Control of Complex Systems is a comprehensive reference book that describes the recent developments in a wide range of areas including the modeling, analysis, and control of dynamic systems, as well as explores related applications. The book acts as a forum for researchers seeking to understand the latest theory findings and software problem experiments. Covering topics that include chaotic maps, predictive modeling, random bit generation, and software bug prediction, this book is ideal for professionals, academicians, researchers, and students in the fields of electrical engineering, computer science, control engineering, robotics, power systems, and biomedical engineering. |
| sliding mode control example: Variable Structure and Lyapunov Control Alan S. I. Zinober, 1994 |
SLIDING | definition in the Cambridge English Dictionary
When he's turning a double play and jumping over a guy sliding into second, he could include it. Those who can pay are charged on a sliding scale, from $5 to $30. The child and dependent …
SLIDING Definition & Meaning - Merriam-Webster
The meaning of SLIDE is to move smoothly along a surface : slip. How to use slide in a sentence.
SLIDING Definition & Meaning | Dictionary.com
Sliding definition: rising or falling, increasing or decreasing, according to a standard or to a set of conditions.. See examples of SLIDING used in a sentence.
Sliding - definition of sliding by The Free Dictionary
n. 1. A sliding movement or action. 2. a. A smooth, usually inclined surface or track for sliding: a water slide. b. A playground apparatus for children to slide on, typically consisting of a smooth …
Sliding - Definition, Meaning & Synonyms | Vocabulary.com
6 days ago · /ˈslaɪdɪŋ/ IPA guide Other forms: slidingly Definitions of sliding adjective being a smooth continuous motion synonyms:
SLIDING definition in American English | Collins English Dictionary
2 senses: 1. rising or falling in accordance with given specifications 2. regulated or moved by sliding.... Click for more definitions.
sliding - WordReference.com Dictionary of English
to move along in continuous contact with a smooth or slippery surface: to slide down a snow-covered hill. to slip or skid. to glide or pass smoothly. to slip easily, quietly, or unobtrusively on …
slide verb - Definition, pictures, pronunciation and usage notes ...
Definition of slide verb from the Oxford Advanced Learner's Dictionary. [intransitive, transitive] to move easily over a smooth or wet surface; to make something move in this way. As I turned …
sliding - Wiktionary, the free dictionary
Mar 26, 2025 · sliding The act of making a slip or losing one's traction. (rare) Effortless or fluid movement. (rare) Dragging; moving something alongside oneself.
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SLIDING | definition in the Cambridge English Dictionary
When he's turning a double play and jumping over a guy sliding into second, he could include it. Those who can pay are charged on a sliding scale, from $5 to $30. The child and dependent …
SLIDING Definition & Meaning - Merriam-Webster
The meaning of SLIDE is to move smoothly along a surface : slip. How to use slide in a sentence.
SLIDING Definition & Meaning | Dictionary.com
Sliding definition: rising or falling, increasing or decreasing, according to a standard or to a set of conditions.. See examples of SLIDING used in a sentence.
Sliding - definition of sliding by The Free Dictionary
n. 1. A sliding movement or action. 2. a. A smooth, usually inclined surface or track for sliding: a water slide. b. A playground apparatus for children to slide on, typically consisting of a smooth …
Sliding - Definition, Meaning & Synonyms | Vocabulary.com
6 days ago · /ˈslaɪdɪŋ/ IPA guide Other forms: slidingly Definitions of sliding adjective being a smooth continuous motion synonyms:
SLIDING definition in American English | Collins English Dictionary
2 senses: 1. rising or falling in accordance with given specifications 2. regulated or moved by sliding.... Click for more definitions.
sliding - WordReference.com Dictionary of English
to move along in continuous contact with a smooth or slippery surface: to slide down a snow-covered hill. to slip or skid. to glide or pass smoothly. to slip easily, quietly, or unobtrusively on …
slide verb - Definition, pictures, pronunciation and usage notes ...
Definition of slide verb from the Oxford Advanced Learner's Dictionary. [intransitive, transitive] to move easily over a smooth or wet surface; to make something move in this way. As I turned …
sliding - Wiktionary, the free dictionary
Mar 26, 2025 · sliding The act of making a slip or losing one's traction. (rare) Effortless or fluid movement. (rare) Dragging; moving something alongside oneself.
Sliding Patio Door - Patio Doors - The Home Depot
Get free shipping on qualified Sliding Patio Door Patio Doors products or Buy Online Pick Up in Store today in the Doors & Windows Department.
