Journal ArticleDOI
Variable structure control of nonlinear multivariable systems: a tutorial
Ray DeCarlo,S.H. Zak,G.P. Matthews +2 more
- Vol. 76, Iss: 3, pp 212-232
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In this paper, the design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented.Abstract:
The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control and generalized Lyapunov stability concepts, the VSC design is described in a unified manner. Complications that arise due to multiple inputs are examined, and several approaches useful in overcoming them are developed. Recent developments are investigated, as is the kinship of VSC and the deterministic approach to the control of uncertain systems. All points are illustrated by numerical examples. The recent literature on VSC applications is surveyed. >read more
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Journal ArticleDOI
Variable structure control: a survey
John Y. Hung,W. Gao,J.C. Hung +2 more
TL;DR: A tutorial account of variable structure control with sliding mode is presented, introducing in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach.
Journal ArticleDOI
Sliding order and sliding accuracy in sliding mode control
TL;DR: It turns out that the deviation of the system from its prescribed constraints (sliding accuracy) is proportional to the switching time delay and a new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced.
Journal ArticleDOI
A control engineer's guide to sliding mode control
TL;DR: An accurate assessment of the so-called chattering phenomenon is offered, which catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding Mode control research.
Journal ArticleDOI
Sliding mode control design principles and applications to electric drives
TL;DR: The main arguments in favor of sliding-mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters.
Journal ArticleDOI
Discrete-time variable structure control systems
Weibing Gao,Yufu Wang,A. Homaifa +2 more
TL;DR: This paper presents a treatment of discrete variable structure control systems, and a recently introduced "reaching law approach" is conveniently used to develop the control law for robust control.
References
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Book
Differential Equations with Discontinuous Righthand Sides
TL;DR: The kind and level of sophistication of mathematics applied in various sciences has changed drastically in recent years: measure theory is used (non-trivially) in regional and theoretical economics, algebraic geometry interacts with physics, and such new emerging subdisciplines as "experimental mathematics", "CFD", "completely integrable systems", "chaos, synergetics and large-scale order", which are almost impossible to fit into the existing classification schemes.
Journal ArticleDOI
Variable structure systems with sliding modes
TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Book
Sliding Modes and their Application in Variable Structure Systems
TL;DR: An electric dynamically operated storage element comprises two energy stores and circuitry is provided for applying periodically repeating phase clock pulses simultaneously to the energy stores through the charging circuits.
Journal ArticleDOI
Tracking control of non-linear systems using sliding surfaces with application to robot manipulators
TL;DR: In this paper, the authors present a methodology of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations.
Journal ArticleDOI
Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
TL;DR: In this article, a class of state feedback controls is proposed in order to guarantee uniform ultimate boundedness of every system response within an arbitrarily small neighborhood of the zero state, and these feedback controls are continuous functions of the state.