Table Of ContentSLIDING MODE CONTROL
Edited by Andrzej Bartoszewicz
Sliding Mode Control
Edited by Andrzej Bartoszewicz
Published by InTech
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Contents
Preface IX
Part 1 Sliding Mode Control in Power Electronics 1
Chapter 1 Sliding Mode Control and Fuzzy
Sliding Mode Control for DC-DC Converters 3
Kamel Ben Saad, Abdelaziz Sahbani
and Mohamed Benrejeb
Chapter 2 Investigation of Single-Phase Inverter
and Single-Phase Series Active Power Filter
with Sliding Mode Control 25
Mariya Petkova, Mihail Antchev
and Vanjo Gourgoulitsov
Chapter 3 Sliding Mode Control for Industrial Controllers 45
Khalifa Al-Hosani, Vadim Utkin and Andrey Malinin
Chapter 4 The Synthetic Control of SMC and PI
for Arc Welding/cutting Power Supply 77
Guo-Rong Zhu and Yong Kang
Chapter 5 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
Chapter 6 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
Part 2 Sliding Mode Control of Electric Drives 133
Chapter 7 Sliding Mode Control Design for Induction Motors:
An Input-Output Approach 135
John Cortés-Romero, Alberto Luviano-Juárez
and Hebertt Sira-Ramírez
VI Contents
Chapter 8 Cascade Sliding Mode Control
of a Field Oriented Induction Motors
with Varying Parameters 155
Abdellatif Reama, Fateh Mehazzem and Arben Cela
Chapter 9 Sliding Mode Control of DC Drives 167
B. M. Patre, V. M. Panchade and Ravindrakumar M. Nagarale
Chapter 10 Sliding Mode Position Controller
for a Linear Switched Reluctance Actuator 181
António Espírito Santo, Maria do Rosário Calado
and Carlos Manuel Cabrita
Chapter 11 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
Part 3 Sliding Mode Control of Robotic Systems 219
Chapter 12 Sliding Mode Control for Visual Servoing
of Mobile Robots using a Generic Camera 221
Héctor M. Becerra and Carlos Sagüés
Chapter 13 Super-Twisting Sliding Mode
in Motion Control Systems 237
Jorge Rivera, LuisGarcia, Christian Mora,
Juan J. Raygoza and Susana Ortega
Chapter 14 Non-Adaptive Sliding Mode Controllers
in Terms of Inertial Quasi-Velocities 255
Przemyslaw Herman and Krzysztof Kozlowski
Part 4 Selected Applications of Sliding Mode Control 279
Chapter 15 Force/Motion Sliding Mode Control
of Three Typical Mechanisms 281
Rong-Fong Fung and Chin-Fu Chang
Chapter 16 Automatic Space Rendezvous and Docking
using Second Order Sliding Mode Control 307
Christian Tournes, Yuri Shtessel and David Foreman
Chapter 17 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
Contents VII
Chapter 18 Control of ROVs using a Model-free
2nd-Order Sliding Mode Approach 347
Tomás. Salgado-Jiménez, Luis G. García-Valdovinos
and Guillermo Delgado-Ramírez
Chapter 19 Sliding Mode Control Applied
to a Novel Linear Axis Actuated by Pneumatic Muscles 369
Dominik Schindele and Harald Aschemann
Chapter 20 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
Chapter 21 A Biomedical Application
by Using Optimal Fuzzy Sliding-Mode Control 409
Bor-Jiunn Wen
Part 5 New Trends in the Theory of Sliding Mode Control 429
Chapter 22 Sliding Mode Control of Second Order
Dynamic System with State Constraints 431
Aleksandra Nowacka-Leverton and Andrzej Bartoszewicz
Chapter 23 Sliding Mode Control System for Improvement
in Transient and Steady-state Response 449
Takao Sato, Nozomu Araki, Yasuo Konishi and Hiroyuki Ishigaki
Chapter 24 A New Design for Noise-Induced Chattering
Reduction in Sliding Mode Control 461
Min-Shin Chen and Ming-Lei Tseng
Chapter 25 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
Chapter 26 Two Dimensional Sliding Mode Control 491
Hassan Adloo, S.Vahid Naghavi,
Ahad Soltani Sarvestani and Erfan Shahriari
Chapter 27 Sliding Mode Control Using Neural Networks 509
Muhammad Yasser, Marina Arifin and Takashi Yahagi
Chapter 28 Sliding Mode Control Approach for Training On-line
Neural Networks with Adaptive Learning Rate 523
Ademir Nied and José de Oliveira
Preface
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
X Preface
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, writ-
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
of a higher order, namely super-twisting sliding mode controller for trajectory tracking 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 me-
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
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 con-
trol concludes with the chapter by Wen on optimal fuzzy sliding mode control of biochips and
biochemical reactions.
