Sliding Mode Control in Electro-Mechanical Systems

ECE 7859 SPRING 2015 Call # 31521 Room: Bolz Hall 432 Class time: Tuesday, Thursday 3:55 5:15 pm Instructor Vadim Utkin Office: Dreese Lab. 456

Phone: 292 6115

E-mail: utkin@ece.osu.edu

Office hours: Tuesday, Thursday 10:30am 12:00 pm. Text Book V. Utkin, Yu. Guldner, and J. Shi, Sliding Modes in Control in

Electromechanical Systems, Taylor&Frencis, 2009.

Additional Reading References 1. V. Utkin, Sliding Modes in Control and Optimization.

Springer Verlag, 1992.

2. Deterministic Non-Linear Control, A.S. Zinober, Ed.,

Peter Peregrinus Limited, UK, 199O.

3. Variable Structure Control for Robotics and

Aerospace Applications, K-K. D. Young, Ed., Elsevier Science

Publishers B.V., Amsterdam, 1993.

4. Variable Structure and Lyapunov Control, A.S.Zinober,

Ed., Springer Verlag, London, 1993.

5. V. Utkin, Sliding Modes and their Applications in Variable

Structure Systems, Mir Publisher, Moscow, 1978.

Pre-requisite: Courses on state space based control theory (EE 750 or similar).

Grading Homework 30%

Midterm Exam 30%

Final Exam 40%

Credit 3

Homework 4 HW's (February 3, February 19, March 3, April 7)

Exams 3 Midterms (February12, March 10, April 14)

Final April 29-May 5 (Exam week)

Goal of the Course The main goal of the course is to demonstrate the beneficial properties of

sliding mode control which enables separation of the overall system

motion into independent partial components of lower dimensions

and low sensitivity to plant parameter variations and disturbances.

These properties make sliding modes an efficient tool to control

high order dynamic plants operating under uncertainty conditions

which is common for control in a wide range of modern technology

processes. The potential of control resources may be used to the

fullest extent within the framework of nonlinear control methods

since the actuator limitations and other performance specifications

may be included in the design procedure.

The scope of sliding mode control studies embraces heterogeneous

problems (mathematical methods, design principles, applications). The

major attention will be paid to sliding mode control design for finite-

dimensional systems, governed by ordinary differential equations.

Recent developments for infinite-dimensional and discrete-time systems

will be provided.

The design methods will be discussed in the context of applications to show

the advantages of the sliding mode control methodology. The versatility of

the application examples by their physical nature and the goal of control tasks

is selected to utilize sliding mode control for electric motors, power converters,

manipulators, mobile robots.

To overcome implementation difficulties, special attention will be paid to suppression

of chattering caused by unmodeled dynamics.

Course Outline: - Sliding mode control

Examples of dynamic systems with sliding modes. Ch.1(pp.1-15)

Sliding modes in relay and variable structure systems (1st week)

- Mathematical background Ch.2(pp.17-40) Differential equations with discontinuous right-hand sides

Regularization methods

Equivalent control method.

Sliding mode existence conditions (2,3 weeks)

- Design methods Decomposition, regular form of motion equations.

Unit control. Second order sliding mode. Ch.3(pp.41-60)

Eigenvalue placement in linear systems. Ackermann Ch.5(pp.93-96, 103-110)

formula.

Control under uncertainty condition. Ch.5 (pp.96-103)

Integral sliding mode Ch.7 (pp.139-143)

(4,5 weeks)

- Chattering problem: systems with unmodeled dynamics, Ch.8 (pp.159-168, motion separation in singularly perturbed systems, 175-179, 187-203)

sliding mode in systems with observers.

Chattering suppression methods (6 week)

- Discrete-time sliding mode control Ch.9(pp205-216) Definitions, design methods,

control in linear systems (7,8 weeks)

- Control of electric motors Ch.10(pp224-238,

Motion equations. 240-266,271-279)

Speed, position, current and flux control.

Speed, acceleration, load torque and flux observers. (9,10 weeks)

-Power convertor control Ch.11 (pp.321-351)

Buck, bust, multiphase converters (11th week)

- Control of manipulators Ch.12(pp.397-405,412-416)

Motion equations.

Position and speed control. (11th week)

- Lumped control of flexible longitudinal Ch.9 (pp.218-221)

and rotational oscillations (12th week)

- Automotive control Ch.13 (pp.455-467)

(13th week)

- Control of mobile robots Ch.12(pp.423-433)

Motion equations

Artificial potential field method for navigation and control

Nonholonomic mobile robots (14th week)