Leonid Fridman - Böcker

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 studiesSliding 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.

Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization.In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be known. A new technique, called  output integral sliding modes, eliminates the effects of disturbances acting in the same subspace as the control. By using LQ-optimal control together with integral sliding modes, the former is made robust and based on output information only. Thus optimal control theory improves its applicability.

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 studiesSliding 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.

Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization.In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be known. A new technique, called  output integral sliding modes, eliminates the effects of disturbances acting in the same subspace as the control. By using LQ-optimal control together with integral sliding modes, the former is made robust and based on output information only. Thus optimal control theory improves its applicability.

In control theory, sliding mode control, or SMC, is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal that forces the system to 'slide' along a cross-section of the system's normal behaviour. This book describes recent advances in the theory, properties, methods and applications of SMC.The book is organised into four parts. The first part is devoted to the design of higher-order sliding-mode controllers, with specific designs presented in the context of disturbance rejection by means of observation and identification. The second part offers a set of tools for establishing different dynamic properties of systems with discontinuous right-hand sides. Time discretization is addressed in the third part. First-order sliding modes are discretized using an implicit scheme - higher-order sliding-mode differentiators, typically used in output-feedback schemes, are discretized in such a way that the optimal accuracy of their continuous-time counterparts is restored.The last part is dedicated to applications. In the context of energy conversion, sliding-mode control is applied to variable-speed wind turbines, fuel cell coupled to a power converter, rugged DC series motors and rectifiers with unity power factor, and electropneumatic actuator. Finally, an event-triggered sliding-mode scheme is proposed for networked control systems subject to packet loss, jitter and delayed transmissions.

The book covers the latest theoretical results and sophisticated applications in the field of variable-structure systems and sliding-mode control. Part II then explores properties of continuous sliding-mode algorithms, such as saturated feedback control, reaching time, and orbital stability.

The book covers the latest theoretical results and sophisticated applications in the field of variable-structure systems and sliding-mode control. Part II then explores properties of continuous sliding-mode algorithms, such as saturated feedback control, reaching time, and orbital stability.

The last part examines the applications of these SMC/VSS ideas to real-world systems. Sliding-Mode Control and Variable-Structure Systems introduces postgraduates and researchers to the state of the art in the field.

The last part examines the applications of these SMC/VSS ideas to real-world systems. Sliding-Mode Control and Variable-Structure Systems introduces postgraduates and researchers to the state of the art in the field.

This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.

This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.

This book reflects the latest developments in variable structure systems (VSS) and sliding mode control (SMC), highlighting advances in various branches of the VSS/SMC field, e.g., from conventional SMC to high-order SMC, from the continuous-time domain to the discrete-time domain, from theories to applications, etc. The book consists of three parts and 16 chapters: in the first part, new VSS/SMC algorithms are proposed and their properties are analyzed, while the second focuses on the use of VSS/SMC techniques to solve a variety of control problems; the third part examines the applications of VSS/SMC to real-time systems. The book introduces postgraduates and researchers to the state-of-the-art in VSS/SMC field, including the theory, methodology, and applications. Relative academic disciplines include Automation, Mathematics, Electrical Engineering, Mechanical Engineering, Instrument Science and Engineering, Electronic Engineering, Computer Science andTechnology, Transportation Engineering, Energy and Power Engineering, etc.

Relative academic disciplines include Automation, Mathematics, Electrical Engineering, Mechanical Engineering, Instrument Science and Engineering, Electronic Engineering, Computer Science andTechnology, Transportation Engineering, Energy and Power Engineering, etc.

Sliding Mode Control is recognized as an efficient tool to design controllers which are robust with respect to uncertainty. The resulting controllers have low sensitivity to plant parameters and perturbations and allow the possibility of decoupling the original plant system into two components of lower dimension. In addition many controllers ensure finite time convergence to the switching surface and can be straightforwardly implemented. However, in addition to this traditional area of exploitation, sliding mode concepts are being increasingly deployed for the design of observers for estimation and identification.Many of the chapters in this book are based on expansions of selected presentations from the 8th IEEE International Workshop on Variable Structure Systems VSS'04, which was held in Barcelona, Spain in September 2004. The editors have tried to identify the key contributions from this workshop, which define the state-of-the-art, represent new directions building on existing work, and highlight new emerging application areas.

This book is a collection of invited chapters covering several areas of modern sliding mode control theory. Preparing this book we tried to identify key c- tributions de?ning the theoretical and applicative state of the art of the sliding mode control theory and the most promising trends of the ongoing research activities. The contributions is divided in four main parts: Part I: Basic Theory. Part II: Design Methods Part III: Observers and Fault Detection Part IV: Applications The ?rst part of the book (Part I: Basic Theory) is devoted to a collection of sixmostlytheoreticalchaptersaddressingbasictheoreticalissuesofsliding-mode based control systems. The ?rst Chapter, by Giorgio Bartolini, Elisabetta Punta, and Tullio Zolezzi, presents new de?nitions of approximability for nonlinear second order sliding mode control systems including the comparison with the related known pr- erties for ?rst order sliding mode control methods. Su?cient conditions are - tainedfor second-orderregularization,a sliding motionerrorestimate is derived, and some relevant examples are discussed.Chapter 2, by Igor Boiko, Leonid Fridman, Alessandro Pisano, and Elio Usai, developsasystematicapproachtothechatteringanalysisinsystemswithsecond order sliding modes. Su?cient conditions for the existence of orbitally stable periodic motions are found in terms of the properties of corresponding Poincar' e maps. For linear systems driven by the second-order SMC "Generalized Sub- Optimal" algorithm, analysis tools based on the frequency-domain methods are developed. Examples of analysis, worked examples, and simulation results are given throughout the Chapter.

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 AnalysisPart II: SMC DesignPart III: Applications of VSS and SMCThe 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.