Get Advanced Sliding Mode Control for Mechanical Systems: PDF

By Jinkun Liu, Xinhua Wang

ISBN-10: 3642209068

ISBN-13: 9783642209062

"Advanced Sliding Mode keep an eye on for Mechanical platforms: layout, research and MATLAB Simulation" takes readers throughout the simple strategies, masking the latest examine in sliding mode keep watch over. The ebook is written from the viewpoint of sensible engineering and examines various classical sliding mode controllers, together with non-stop time sliding mode regulate, discrete time sliding mode regulate, fuzzy sliding mode regulate, neural sliding mode regulate, backstepping sliding mode keep watch over, dynamic sliding mode regulate, sliding mode regulate in line with observer, terminal sliding mode keep an eye on, sliding mode keep an eye on for robotic manipulators, and sliding mode keep an eye on for plane. This ebook is meant for engineers and researchers operating within the box of keep an eye on. Dr. Jinkun Liu works at Beijing college of Aeronautics and Astronautics and Dr. Xinhua Wang works on the nationwide college of Singapore.

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Additional resources for Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation

Sample text

0. In practice, J is the time-variant, and disturbances and uncertainties exist. 2) where J n is the nominal moment of inertia, Bn is the nominal sampling coefficient, P is the nominal control input, T n the nominal rolling angle, and J n ! 0 , Bn ! 0. J. 2 The Structure of Control System From Fig. 1, the control consists of two controllers: sliding mode controller with respect to system Eq. 1) and T o T n is expected to be obtained. For model Eq. 2), a sliding mode controller is designed to obtain T n o T d , and T o T d .

2) where J n is the nominal moment of inertia, Bn is the nominal sampling coefficient, P is the nominal control input, T n the nominal rolling angle, and J n ! 0 , Bn ! 0. J. 2 The Structure of Control System From Fig. 1, the control consists of two controllers: sliding mode controller with respect to system Eq. 1) and T o T n is expected to be obtained. For model Eq. 2), a sliding mode controller is designed to obtain T n o T d , and T o T d . T d denotes a desired angle and T n denotes a nominal rolling angle.

The simulation results are shown in Fig. 12 and Fig. 13. 05 in Eq. 29). The simulation results are shown in Fig. 14 and Fig. 15. 1 Sliding Mode Control Based on Quasi-Sliding Mode Quasi-Sliding Mode In practical engineering systems, the chattering of sliding mode control may cause damage to system components such as actuators. One way to alleviate the chattering is to use the quasi-sliding mode method which can make the state stay in a certain range at ' neighborhood. Often we name ' as the boundary layer.

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Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation by Jinkun Liu, Xinhua Wang


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