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This paper gives a holistic introduction to sliding mode control, and presents it as a suitable 'advanced' control method to teach in an introductory controls course. Sliding mode control is a robust control method with very good rejection of disturbance signals that act or appear to act through the control input channel. The main idea and design task is to encapsulate a stable dynamic system that obeys the system model dynamics into a variable known as the switching function. This new variable is treated as an objective function to be minimised using Lyapunov stability theory. Restatements of that theory, known as reaching conditions/laws, were derived and a general form given. These laws were used to derive control laws that explicitly contained the signum function, and were applied to some nonlinear systems. The stability behaviour of a simplified version of the so-called supertwisting sliding mode control algorithm provided insight into the stability behaviour of Proportional-Integral (PI) control, since they were shown to be analogous. Their similarity leads to a generalised view of Proportional-Integral-Derivative (PID) control that suggests that the sliding mode control structure may be used to replace or modify PID controllers in some existing and future industrial controllers.
Оригинальное название
From Differential Equations Through Lyapunov Functions to Sliding Mode Control
This paper gives a holistic introduction to sliding mode control, and presents it as a suitable 'advanced' control method to teach in an introductory controls course. Sliding mode control is…