Sliding Mode Control Part 1 pdf

Sliding Mode Control for DC-DC Converters 3Kamel Ben Saad, Abdelaziz Sahbani and Mohamed Benrejeb Investigation of Single-Phase Inverter and Single-Phase Series Active Power Filter with

SLIDING MODE CONTROL

Edited by Andrzej Bartoszewicz

Sliding Mode Control

Edited by Andrzej Bartoszewicz

Published by InTech

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First published March, 2011

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Sliding Mode Control for DC-DC Converters 3

Kamel Ben Saad, Abdelaziz Sahbani and Mohamed Benrejeb

Investigation of Single-Phase Inverter and Single-Phase Series Active Power Filter with Sliding Mode Control 25

Mariya Petkova, Mihail Antchev and Vanjo Gourgoulitsov

Sliding Mode Control for Industrial Controllers 45

Khalifa Al-Hosani, Vadim Utkin and Andrey Malinin

The Synthetic Control of SMC and PI for Arc Welding/cutting Power Supply 77

Guo-Rong Zhu and Yong Kang

Sliding Mode Control of Fuel Cell, Supercapacitors and Batteries Hybrid Sources for Vehicle Applications 87

M Y Ayad, M Becherif, A Aboubou and A Henni

Sensorless First- and Second-Order Sliding-Mode Control of a Wind Turbine-Driven Doubly-Fed Induction Generator 109

Ana Susperregui, Gerardo Tapia and M Itsaso Martinez

Sliding Mode Control of Electric Drives 133 Sliding Mode Control Design for Induction Motors:

An Input-Output Approach 135

John Cortés-Romero, Alberto Luviano-Juárez and Hebertt Sira-Ramírez

Contents

Cascade Sliding Mode Control

of a Field Oriented Induction Motors with Varying Parameters 155

Abdellatif Reama, Fateh Mehazzem and Arben Cela

Sliding Mode Control of DC Drives 167

B M Patre, V M Panchade and Ravindrakumar M Nagarale

Sliding Mode Position Controller for a Linear Switched Reluctance Actuator 181

António Espírito Santo, Maria do Rosário Calado and Carlos Manuel Cabrita

Application of Sliding Mode Control

to Friction Compensation of a Mini Voice Coil Motor 203

Shir-Kuan Lin, Ti-Chung Lee and Ching-Lung Tsai

Sliding Mode Control of Robotic Systems 219 Sliding Mode Control for Visual Servoing

of Mobile Robots using a Generic Camera 221

Héctor M Becerra and Carlos Sagüés

Super-Twisting Sliding Mode

in Motion Control Systems 237

Jorge Rivera, LuisGarcia, Christian Mora,Juan J Raygoza and Susana Ortega

Non-Adaptive Sliding Mode Controllers

in Terms of Inertial Quasi-Velocities 255

Przemyslaw Herman and Krzysztof Kozlowski

Selected Applications of Sliding Mode Control 279 Force/Motion Sliding Mode Control

of Three Typical Mechanisms 281

Rong-Fong Fung and Chin-Fu Chang

Automatic Space Rendezvous and Docking using Second Order Sliding Mode Control 307

Christian Tournes, Yuri Shtessel and David Foreman

High Order Sliding Mode Control for Suppression of Nonlinear Dynamics

in Mechanical Systems with Friction 331

Rogelio Hernandez Suarez, America Morales Diaz, Norberto Flores Guzman, Eliseo Hernandez Martinez and Hector Puebla

Control of ROVs using a Model-free

2nd-Order Sliding Mode Approach 347

Tomás Salgado-Jiménez, Luis G García-Valdovinos

and Guillermo Delgado-Ramírez

Sliding Mode Control Applied

to a Novel Linear Axis Actuated by Pneumatic Muscles 369

Dominik Schindele and Harald Aschemann

Adaptive Sliding Mode Control

of Adhesion Force in Railway Rolling Stocks 385

Jong Shik Kim, Sung Hwan Park,

Jeong Ju Choi and Hiro-o Yamazaki

Dynamic System with State Constraints 431

Aleksandra Nowacka-Leverton and Andrzej Bartoszewicz

Sliding Mode Control System for Improvement

in Transient and Steady-state Response 449

Takao Sato, Nozomu Araki, Yasuo Konishi and Hiroyuki Ishigaki

A New Design for Noise-Induced Chattering

Reduction in Sliding Mode Control 461

Min-Shin Chen and Ming-Lei Tseng

Multimodel Discrete Second Order Sliding Mode

Control : Stability Analysis and Real Time

Application on a Chemical Reactor 473

Mohamed Mihoub, Ahmed Said Nouri and Ridha Ben Abdennour

Two Dimensional Sliding Mode Control 491

Hassan Adloo, S.Vahid Naghavi,

Ahad Soltani Sarvestani and Erfan Shahriari

Sliding Mode Control Using Neural Networks 509

Muhammad Yasser, Marina Arifin and Takashi Yahagi

Sliding Mode Control Approach for Training On-line

Neural Networks with Adaptive Learning Rate 523

Ademir Nied and José de Oliveira

The theory of variable structure systems with sliding modes is currently one of the most important research topics within the control engineering domain Moreover, recently a number of important applications of the systems primarily in the fi eld of power electronics, control of electric drives, robotics and position regulation of sophis-ticated mechanical systems have also been reported Therefore, the objective of this monograph is to present the most signifi cant latest developments in the theory and engineering applications of the sliding mode control and to stimulate further research

in this fi eld

The monograph consists of 28 chapters It begins with six contributions devoted to various signifi cant issues in power electronics In the fi rst chapter, Ben Saad et al pro-pose, test and compare sliding mode and fuzzy sliding mode controllers for DC-DC converters In the second chapter, Petkova et al consider the operation of the single-phase inverter and single-phase active power fi lter and prove, both in simulations and laboratory experiments, the eff ectiveness of sliding mode controllers in these two ap-plications Then, Al-Hosani et al also consider the design of DC-DC buck and boost converters They develop the sliding mode approach which implements – very common

in industry – proportional integral derivative (PID) controllers The main idea of that chapter may be summarized as enforcing sliding mode such that the output converter voltage contains proportional, integral and derivative components with the predefi ned coeffi cients Chatt ering is then reduced through the use of multiphase power converter structure The proposed design methods are confi rmed by means of computer simula-tions In the next chapter, Zhu and Kang consider arc welding/cutt ing power supply and propose a “synthetic” sliding mode and PI controller They propose to use the PI controller in the current loop and the sliding mode controller in the voltage loop The results are verifi ed by experiments conducted on a 20 kW arc welding/cutt ing power source They show on one hand good dynamic performance of the system, and on the other decreased undesirable voltage overshoot Another contribution concerned with power electronics is the chapter by Ayad et al which presents sliding mode control of fuel cells, supercapacitors and batt ery hybrid sources for vehicle applications Then, the chapter by Susperregui presents and evaluates fi rst-order and higher-order sensorless sliding mode control algorithms, for a doubly-fed induction generator The algorithms not only aim at governing active and reactive power exchange between the doubly-fed induction generator stator and the grid, but also ensure the synchronization required for smooth connection of the generator stator to the grid

Sliding mode systems are a feasible option not only for power converter control but also for electric drive regulation Therefore an important issue of induction motor control is

addressed in the next two chapters The chapter by Cortes-Romero and Sira-Ramirez presents

a combination of two control loops, one employing a discontinuous sliding mode controller and another one based on the combination of generalized proportional integral control and gener-alized proportional integral disturbance observer The authors of the chapter demonstrate – by experiments performed on an actual induction motor test bed with a voltage controlled brake – that the proposed combination results in robust position and tracking control of induction motors In the next chapter, writt en by Reama et al a new simple and easy to implement adap-tive sliding mode scheme for speed and fl ux control of induction motor using online estimation

of the rotor resistance and load torque are proposed The two chapters on control of induction motors are followed by a contribution of Patre and Panchade, which is concerned with a unifi ed sliding mode approach to torque, position, current and speed regulation of DC drives Then the next chapter, by Santo et al., presents the design and implementation of a sliding mode position controller for a linear switched reluctance actuator devoted primarily for robotic applications The section devoted to the problem of electric drive control ends up with a chapter on friction compensation for a mini voice coil motors The chapter writt en by Lin et al., demonstrates that sliding mode control approach may reliably eliminate stick slip oscillations and reduce the steady state error This conclusion is drawn based on experimental results performed on a mini voice coil motor mounted on a compact camera module

The next three chapters are concerned with selected issues in robotics The fi rst of them, ten by Becerra and Sagues proposes a robust controller for image-based visual servoing for diff erential drive mobile robots The second one, by Rivera et al., is devoted to the application

writ-of a higher order, namely super-twisting sliding mode controller for trajectory tracking writ-of an under-actuated manipulator and also for induction motors Then Herman and Kozłowski con-sider rigid, serial manipulators and present an extensive survey of selected non-adaptive slid-ing mode controllers expressed in terms of the inertial quasi-velocities They also point out a number of advantages off ered by sliding mode control schemes using inertial quasi-velocities.The next seven chapters present successful applications of sliding mode control paradigm in other areas than power electronics, electric drives and robotics The section devoted to those applications begins with the chapter by Fung and Chang on sliding mode force and motion control of three very popular mechanisms, i.e slider-crank, quick-return and toggle mecha-nism Then Tournes et al propose a higher order sliding mode control scheme for automatic docking of space vehicles The issue of higher order sliding mode control is also considered in the chapter, by Suares et al In that contribution higher order sliding mode is successfully used

to suppress nonlinear dynamics in physical plants with friction which is inevitable in all chanical systems Higher order sliding mode approach is further considered in the chapter by Salgado-Jiménez et al on control of remotely operated vehicles which are nowadays indispens-able in performing the inspection tasks and maintenance of numerous underwater structures, common in the oil industry, especially in deep and not easily accessible to humans waters That chapter demonstrates that sliding mode control is a viable option for controlling underwater vehicles which operate in a highly dynamic and uncertain environment oft en aff ected by waves and strong currents Another interesting and very well worked out application is described in the next chapter authored by Schindele and Aschemann They propose three types of sliding mode controllers (conventional, second-order and proxy) for a linear axis driven by four pneu-matic muscles and verify performance of these controllers on a laboratory test rig Then Kim et

me-al present adaptive sliding mode controller of adhesion force between the rail and the wheel

in railway rolling stocks The section concerned with various applications of sliding mode trol concludes with the chapter by Wen on optimal fuzzy sliding mode control of biochips and biochemical reactions

con-The last section of this monograph presents selected new trends in the theory of sliding mode control It begins with a chapter by Nowacka-Leverton and Bartoszewicz point-ing out some advantages of sliding mode control systems with time-varying switch-ing surfaces Then the chapter by Sato et al discusses a new variable structure design method which results in good transient performance of the controlled system and small steady state error The next chapter by Chen and Tseng is devoted to the att enu-ation of an important and fairly undesirable eff ect of chatt ering The authors present a new controller design procedure aimed at chatt ering reduction by low-pass fi ltering of the control signal Also the subsequent chapter, writt en by Mihoub et al., considers the chatt ering phenomenon It effi ciently combines multi-model approach to the reaching phase performance improvement with the second order sliding mode controller design for discrete time systems Another signifi cant theoretical issue is considered by Adloo

et al Those authors propose sliding mode controller for two dimensional (2-D) systems and discuss the switching surface design and the control law derivation In the penul-timate chapter of this monograph, Yasser et al propose to incorporate some elements

of artifi cial intelligence, namely appropriately trained neural networks, into the sliding mode control framework and demonstrate the advantages of this approach Finally, the last chapter of this book – writt en by Nied and de Oliveira – also concentrates on some aspects of combining neural networks with sliding mode control, however their goal is quite diff erent from that of Yasser et al Indeed Nied and de Oliveira present a sliding mode based algorithm for on-line training of artifi cial neural networks, rather than exploiting neural networks in variable structure controller construction

In conclusion, the main objective of this book was to present a broad range of well worked out, recent application studies as well as theoretical contributions in the fi eld

of sliding mode control The editor believes, that thanks to the authors, reviewers and the editorial staff of Intech Open Access Publisher this ambitious objective has been successfully accomplished It is hoped that the result of this joint eff ort will be of true interest to the control community working on various aspects of non-linear control sys-tems, and in particular those working in the variable structure systems community

Andrzej Bartoszewicz

Institute of Automatic Control, Technical University of Łódź

Poland

Part 1

Sliding Mode Control in Power Electronics

1

Sliding Mode Control and Fuzzy Sliding Mode Control for DC-DC Converters

Kamel Ben Saad, Abdelaziz Sahbani and Mohamed Benrejeb

Research unit LARA, National engineering school of Tunis (ENIT), Tunis,

Tunisia

1 Introduction

Switched mode DC-DC converters are electronic circuits which convert a voltage from one level to a higher or lower one They are considered to be the most advantageous supply tools for feeding some electronic systems in comparison with linear power supplies which are simple and have a low cost However, they are inefficient as they convert the dropped voltage into heat dissipation The switched-mode DC-DC converters are more and more used in some electronic devices such as DC-drive systems, electric traction, electric vehicles, machine tools, distributed power supply systems and embedded systems to extend battery life by minimizing power consumption (Rashid, 2001)

There are several topologies of DC-DC converters which can be classified into non-isolated and isolated topologies The principle non-isolated structures of the DC-DC converters are the Buck, the Buck Boost, the Boost and the Cuk converters The isolated topologies are used

in applications where isolation is necessary between the input and the load The isolation is insured by the use of an isolating transformer

The DC-DC converters are designed to work in open-loop mode However, these kinds of converters are nonlinear This nonlinearity is due to the switch and the converter component characteristics

For some applications, the DC-DC converters must provide a regulated output voltage with low ripple rate In addition, the converter must be robust against load or input voltage variations and converter parametric uncertainties Thus, for such case the regulation of the output voltage must be performed in a closed loop control mode Proportional Integral and hysteretic control are the most used closed loop control solutions of DC-DC converters This can be explained by the fact that these control techniques are not complicated and can be easily implemented on electronic circuit devises

Nowadays, the control systems such as microcontrollers and programmable logic devises are sophisticated and allow the implementation of complex and time consuming control techniques

The control theory provides several control solutions which can be classified into conventional and non-conventional controls Many conventional controls, such as the PID control, were applied to DC-DC converters The design of the linear controller is based on the linearized converter model around an equilibrium point near which the controller gives

Sliding Mode Control

This chapter aims to compare SMC and FSMC of DC-DC converters The average models of Buck, Boost and Buck Boost converters are presented in section 2 Then in section 3, some classical sliding mode controls are presented and tested by simulations for the case of Buck and Buck Boost converters In order to improve the DC-DC converters robustness against load and input voltage variations and to overcome the chattering problem, two approaches

of FSMC are presented in section 4

Let us consider a switching converter which has two working topologies during a period T

When the switches are closed, the converter model is linear The state-space equations of the circuit can be written and noted as follows (Middlebrook & Cuk, 1976):

From the equation (1) and (2) we can determine the averaged model given by equation (3)

for an entire switching cycle T

Sliding Mode Control and Fuzzy Sliding Mode Control for DC-DC Converters 5

and x ,  y and u are respectively the average of x, y and u during the switching period T

Let us consider the Buck, Boost and Buck-Boost converters presented by Fig 1, Fig 2 and

Fig 3 respectively The state space representation can be expressed for these converters as

follows :

( ) ( )( )

However the matrix ( )A d and ( )B d depend on the kind of converter Table 1 gives the

expression of these matrixes for the considered converters

Buck converter Boost converter Buck Boost converter

10

LA(d)

⎛ ⎞

⎜ ⎟

= ⎜ ⎟⎜ ⎟

10( )

d L