Commenced in January 2007
Paper Count: 30458
Design of Moving Sliding Surfaces in A Variable Structure Plant and Chattering Phenomena
Authors: T.C. Manjunath
Abstract:This paper deals with the design of a moving sliding surface in a variable structure plant for a second order system. The chattering phenomena is also dealt with during the switching process for an unstable sliding surface condition. The simulation examples considered in this paper shows the effectiveness of the sliding mode control method used for the design of the moving sliding surfaces. A simulink model of the continuous system was also developed in MATLAB-SIMULINK for the design and hence demonstrated. The phase portraits and the state plots shows the demonstration of the powerful control technique which can be applied for second order systems.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1082525Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2009
 Andronov, A. A., Vitt, A. A., Khaikin, S.E.Teoriya kolebanii, Theory of Oscillation, Fizmatgiz, Moscow, 1959.
 Bernshtein, S. I., Theory of Vibrational Controllers of Electrical Machinery, Proceedings of the Second All Union Conference on Control Theory, Vol. 1, Izd-vo AN SSSR, Moscow, 1955.
 Kulebakin, V. S., On the Theory of Automatic Vibrational Controllers for Electrical Machinery, Teoreticheskaya i eksperimental-naya elektrotekhnika, No. 4, 1932.
 Gamkrelidze, R. V., On Optimal Sliding Modes, DAN SSSR, Vol. 143, No. 6, 1962.
 Krotov, V. F., Methods to Solve Variational Problems by Using Sufficient Conditions of the Absolute Minimum 1, Avtomatika itelemekhanika, Vol. 23, No. 12, 1962.
 S. V. Emelyanov, Variable Structure Control Systems. Moscow: Nauka, (in Russian), 1967.
 Y. Itkis, Control Systems Of Variable Structures, New York: Wiley, 1976.
 ---, Sliding Modes and their Applications in Variable structure Systems. Moscow: Nauka (in Russian) (also Moscow: Mir, 1978, in English).
 V. I. Utkin, Sliding Modes and their Applications in Variable structure Systems. Moscow: Mir, 1978, in English.
 K. K. D. Young, Asymptotic Stability of Model reference System with variable structure control, IEEE trans. Autmat. Contr.,Vol. AC-22, No. 4, pp. 279-281, 1977.
 ---, Controller Design for a Manipulator Using Theory of Variable Structure Systems, IEEE trans. Syst. Man Cybern., Vol. SMC-8, No. 2, pp. 101-109, 1978.
 R. G. Morgan, and U. Ozguner, A Decentralized Variable Structure Control algorithm for Robotic Manipulators, IEEE J. Robotics and Automation, Vol. 1, No. 1, pp. 57-65, 1985.
 J. J. E. Slotine and S. S. Shastry, Tracking control of Nonlinear Systems using Sliding Surfaces with Application to Robot Manipulators, Int. J. Contr., Vol. 38, No. 2, pp. 465-492, 1983.
 Balestrino and A. Landi, Intelligent variable Structure Control in Electrical Drives, in 1990 IEEE Int. Workshop on Intelligent Motion Control, 1990.
 D. Borojebic, H. Naitoh, and F. C. Lee, 1986, Soft Variable structure Based Adaptive PI Control for D.C. Motor position Control, Proc. IEEE Industry Applications Society annual meeting, pp. 283-288.
 Feller, P. and U. Benz, Sliding Mode Position Control of a DC Motor, Proc. 10th IFAC World Congress, Vol. 3, pp. 333-338, 1987.
 Hyeung-sik Choi, Yong-heon Park, Global Sliding Mode Control, Improved Design for Brushless DC Motor, IEEE Control system magazine, Vol. 1, pp. 27-35. 2001.
 B. A. White, R. J. Patton, S. Mudge, and P. P. Aslin, Reduced Order Variable Structure Control of the Lateral motion of an Aircraft, Proc. 25th Conf. Decision and Contr., Athens, Greece, 1986, pp. 322- 327.
 S. N. Singh, Asymptotically decoupled Discontinuous Control of Systems and Nonlinear Aircraft Maneuver, IEEE Trans. Aerosp. Electron. Syst. Vol. AES-25, No. 3, pp. 380-391, 1989.
 J. K. Hedric and S. Gopalswamy, Nonlinear Flight Control Design via Sliding Methods, J. Giud. Contr. Dynamics, Vol. 13, No.5, pp. 850-858, 1990.
 T. A. W. Dwyer, III, and H. Sira-Ramirez, Variable Structure Control of Spacecraft Attitude Maneuvers, J. Guidance, Vol. 11,No 3, pp. 62- 270, 1980.
 H. Sira-Ramirez and T.A. W. Dwyer, III, Variable Structure Controller Design for Spacecraft Rotation Damping, IEEE Trans. Automat. Contr., Vol. AC-32, No. 5, pp. 435-438, 1987.
 S. N. Singh and A. Iyer, Nonlinear Decoupling Sliding Mode Control and Attitude Control of Spacecraft, IEEE Trans. Aerosp. Electron. Syst. Vol. AES-25, No 5, pp. 621-633, 1989.
 C. Lagoa and H. Che, Decentralized Optimal Traffic Engineering in the Internet Electronic paper, PDF file.
 Utkin, V. I., Variable structure systems with sliding modes, IEEE Trans. Automat. Contr., Vol. AC-22, Pg. 212-222, 1977.
 Hung., J. Y., Gao W., Hung J.C., Variable structure control : A survey, IEEE Trans. Ind. Electron., Vol. 40 (1), Pg. 2-21, 1993.
 Young, K. D., Utkin, V. I., Ozguner, U., A control engineer's guide to sliding mode control, IEEE Trans. Contr. Syst., Vol. 7 (3), Pg. 328-342, 1999.
 T.C.Manjunath, Muddu. M, Arounasalome, G. Dattatreya Reddy, "Design of stable and optimal sliding surfaces in second order systems using sliding mode control", Proceedings of the 1st National Conference on Process Identification, Control & Diagnosis (NCPICD- 2005), Madras Institute of Technology, Chennai-44, Tamil Nadu, India, Paper No. 4, Session 2, pp. 77 - 87, 16th Dec-17th Dec. 2005.