Sliding Mode Control (SMC) and its Applications
Mr. Abhishek Kumar
(MT18EEE003)
Supervisor: Dr. Prakash Dwivedi
Department of Electrical Engineering
National Institute Of Technology, Uttarakhand
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 1 / 12
Contents
Motivation
Sliding Mode Control: A brief introduction
Concept of Sliding Mode Control
Chattering: The main drawback
Chattering Reduction Method
Applications
Future Work
References
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Feb,2019 2 / 12
Motivation
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 3 / 12
Sliding Mode Control:A brief introduction
Sliding Mode Control is a type of Variable Structure System(VSC)
that posses robust charcteristics to system disturbances and
parameter uncertainities
It is an efficient tool to design robust controllers for complex high
order non linear dynamic plant operating under uncertainity
conditions.
Sliding controller design provides s a systematic approach to the
problem of maintaing stability and consistent performance.
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Feb,2019 4 / 12
Concept of Sliding Mode Control
THE SMC DESIGN IS COMPOSED OF THREE STEPS
A sliding surface is designed which is globally given by:
d
s(t) = [ + λ](n−1) e(t) (1)
dt
Designing of a control law to provide convergence of a system
trajectory to the sliding surface, Thus the sliding surface should be
obtained in a finite time.
1
u = sign(s) (2)
2
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
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continued...
Sliding Condition:
1d 2
s < −η|s| (3)
2 dt
This condition implies that the trajectory should hit the sliding surface
Figure 1
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
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and Elsewhere)
Feb,2019 6 / 12
Chattering:The Main Drawback
In theory, the trajctories slide along the switching functions
In practice,there is high frequency switching. This high frequency
motion is called chattering
Solutions have been developed to reduce the chattering, so that the
trajectories remain in a small neighbourhood of the surface
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
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its Applications
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Feb,2019 7 / 12
Chattering reduction
Chattering could be reduced or suppressed using different technique such
as:
Non linear gains
Dynamic Extension
Higher order sliding mode control
Second Order Sliding Mode
Super Twisting Algorithm
Arbitary Order Sliding Mode Controllers
Continuous Arbitary Order Sliding Mode Controllers
Use of saturator
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Application
Electro-mechanical Plants
Control of Electric Drives
DC-DC converters
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Future Work
To normalise the output voltage variation of PV panel
To deal with variable frequency, variable voltage output of Wind
Turbine
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Refrences
Utkin, Vadim, Jrgen Guldner, and Jingxin Shi. Sliding mode control
in electro-mechanical systems. CRC press, 2009
Utkin, Vadim I. ”Sliding mode control design principles and
applications to electric drives.” IEEE transactions on industrial
electronics 40, no. 1 (1993): 23-36.
Drakunov, Sergey, and Vadim Utkin. ”Sliding mode observers.
Tutorial.” In Proceedings of 1995 34th IEEE Conference on Decision
and Control, vol. 4, pp. 3376-3378. IEEE, 1995.
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
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Thank you...
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
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Seminar,25
and Elsewhere)
Feb,2019 12 / 12
