Introduction prehistory Discretetime sliding modes Observers and estimators
- Introduction (prehistory) - Discrete-time sliding modes Observers and estimators Chattering problem - High order sliding modes
Introduction of Sliding Mode Control First Stage – Control in Canonical Space
Introduction of Sliding Mode Control ■ Concept of Sliding Mode ( Second order relay system ) Upper semi-plane : Lower semi-plane : • State trajectories are towards the line switching line s=0 : sliding mode • After sliding mode starts, further motion is governed by : sliding mode equation din In sliding mode, the system motion is (1) governed by 1 st order equation (reduced order). (2) depending only on ‘c’ not plant dynamics. Sli m g. M od e • State trajectories cannot leave and belong to the switching line s=0 n Slid in Equ g Mod atio e n
Trajectories should be oriented towards the switching surface R
Introduction of Sliding Mode Control ■ Concept of Sliding Mode ( Variable Structures System ) 1 2 State planes of two unstable structures
Introduction of Sliding Mode Control • If c<c 0, the state trajectories are towards the line switching line s=0 • State trajectories cannot leave and belong to the switching line s=0 : sliding mode • After sliding mode starts, further motion is governed by : sliding mode equation 1 2 In sliding mode, the system motion is (1) governed by 1 st order equation (reduced order). (2) depending only on ‘c’ not plant dynamics. 2 1 State planes of Variable Structure System
Dubrovnik 1964 IFAC Sensitivity Conference
Dubrovnik 1964 IFAC Sensitivity Conference
Dubrovnik 1964 IFAC Sensitivity Conference
- Slides: 28