What is the purpose of sliding mode control?

The principle of sliding mode control is to forcibly constrain the system, by suitable control strategy, to stay on the sliding surface on which the system will exhibit desirable features.

What is adaptive sliding mode control?

The main obstacles for application of Sliding Mode Control are two interconnected phenomena: chattering and high activity of control action. These two problems can be handled simultaneously if the magnitude is reduced to a minimal admissible level defined by the conditions for the sliding mode to exist.

What is backstepping sliding mode control?

During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance.

What are the advantages of using sliding mode control in robotics?

A classic Sliding Mode Control (SMC) has many advantages like precise tracking and robustness against disturbances and unpredicted inaccuracies which are existing in a system like UAVs.

What is a sliding surface?

The sliding surface is a hyperplane that characterizes the operation of the discontinuous nonlinear control input. The name of the control method comes from the behavior of states that act along sliding surface towards equilibrium point.

What is sliding surface?

What is switching surface?

Definition of surface switch : a snap switch designed for mounting on a plane surface and requiring no enclosing parts (such as a box)

Which mode is the sliding mode?

Reaching mode is the phase where the state trajectories are driven to the sliding surface. It is also known as hitting mode or non-sliding mode. In sliding mode, the trajectories are restrained and kept moving along the surface towards the equilibrium point or reference point.

What is second order sliding mode control?

In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode.

What is fractional order sliding mode control?

A fractional sliding mode controller that combines fractional order calculus and the hierarchical sliding mode control method is proposed for the spherical robot. Employing this controller, an auxiliary system in which a filter was used to gain smooth control performance was designed to overcome the input saturation.

What is the state space model?

State space model: a representation of the dynamics of an Nth order system as a first order differential equation in an N-vector, which is called the state. Convert the Nth order differential equation that governs the dy­namics into N first-order differential equations Classic example: second order mass-spring system mp¨+ cp˙ + kp = F

How to get the state space model of an RLC circuit?

The state space model can be obtained from any one of these two mathematical models. Let us now discuss these two methods one by one. Consider the following series of the RLC circuit. It is having an input voltage, vi(t) and the current flowing through the circuit is i(t). There are two storage elements (inductor and capacitor) in this circuit.

What is the state space model of linear time invariant system?

The state space model of Linear Time-Invariant (LTI) system can be represented as, $$dot{X}=AX+BU$$. $$Y=CX+DU$$. The first and the second equations are known as state equation and output equation respectively. Where, X and $dot{X}$ are the state vector and the differential state vector respectively.

What are the two mathematical models of control systems?

In the earlier chapters, we have discussed two mathematical models of the control systems. Those are the differential equation model and the transfer function model. The state space model can be obtained from any one of these two mathematical models.