机械系统先进滑模变结构控制 设计、分析及MATLAB仿真PDF|Epub|txt|kindle电子书版本网盘下载

机械系统先进滑模变结构控制 设计、分析及MATLAB仿真PDF格式电子书版下载

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1 Introduction1

1.1 Parameters of Sliding Surface Design7

1.2 Sliding Mode Control Based on Reaching Law8

1.2.1 Classical Reaching Laws8

1.2.2 Controller Design9

1.3 Robust Sliding Mode Control Based on Reaching Law14

1.3.1 System Description14

1.3.2 Simulation Example15

1.4 Sliding Mode Robust Control Based on Upper Bound19

1.4.1 System Description19

1.4.2 Controller Design19

1.4.3 Simulation Example20

1.5 Sliding Mode Control Based on Quasi-Sliding Mode25

1.5.1 Quasi-Sliding Mode25

1.5.2 Simulation Example26

1.6 Sliding Mode Control Based on the Equivalent Control31

1.6.1 System Description31

1.6.2 Sliding Mode Controller Design31

1.6.3 Simulation Example33

1.7 Digital Simulation of Sliding Mode Control36

1.7.1 Basic Theory36

1.7.2 Simulation Example37

References40

2 Normal Sliding Mode Control41

2.1 Sliding Mode Control Based on Nominal Model41

2.1.1 System Description41

2.1.2 The Structure of Control System42

2.1.3 Design of Nominal Model42

2.1.4 Sliding Mode Controller Design for Actual Plant43

2.1.5 Simulation45

2.2 Global Sliding Mode Control for an Uncertain System50

2.2.1 System Description50

2.2.2 Global Sliding Mode Design51

2.2.3 Sliding Mode Controller Design51

2.2.4 Simulation Example52

2.3 Sliding Mode Control Based on Linearization Feedback Control57

2.3.1 Linearization Feedback Control57

2.3.2 Simulation Example57

2.3.3 Sliding Mode Control Based on Linearization Feedback61

2.3.4 Simulation Example62

2.4 Input-Output Feedback Linearization Control65

2.4.1 System Description65

2.4.2 Controller Design66

2.4.3 Simulation Example67

2.5 Sliding Mode Control Based on Input-Output Feedback Linearization70

2.5.1 System Description70

2.5.2 Controller Design70

2.5.3 Simulation Example72

2.6 Sliding Mode Control Based on Low Pass Filter75

2.6.1 System Description75

2.6.2 Sliding Mode Controller Design75

2.6.3 Simulation Example77

References80

3 Advanced Sliding Mode Control81

3.1 Sliding Mode Control Based on a Linear Matrix Inequality for Inverted Pendulum81

3.1.1 System Description81

3.1.2 Equivalent Sliding Mode Control82

3.1.3 Sliding Mode Control Based on Auxiliary Feedback83

3.1.4 Simulation Example84

3.2 Backstepping Sliding Mode Control for a Inverted Pendulum91

3.2.1 The Basic Theory91

3.2.2 System Description91

3.2.3 Controller Design92

3.2.4 Simulation Example93

References96

4 Discrete Sliding Mode Control97

4.1 Discrete Sliding Mode Controller Design and Analysis97

4.1.1 System Description97

4.1.2 Controller Design and Analysis98

4.1.3 Simulation Example100

4.2 Discrete Sliding Mode Control Based on Disturbance Observer102

4.2.1 System Description102

4.2.2 Discrete Sliding Mode Control Based on Disturbance Observer103

4.2.3 Convergent Analysis of Disturbance Observer104

4.2.4 Stability Analysis105

4.2.5 Simulation Example107

Reference110

5 Dynamic Sliding Mode Control111

5.1 Problem Statement111

5.2 Dynamic Sliding Mode Control Based on Dynamic Switching Functions111

5.2.1 System Description111

5.2.2 Design of Controller112

5.2.3 Simulation Example113

Reference116

6 Adaptive Sliding Mode Control for Mechanical Systems117

6.1 Adaptive Sliding Mode Control for Mechanical Systems117

6.1.1 System Description117

6.1.2 Design of Adaptive Sliding Mode Controller118

6.1.3 Simulation Example119

6.2 Adaptive Sliding Mode Control of Inverted Pendulum126

6.2.1 System Description126

6.2.2 Control System Design126

6.2.3 Simulation Example129

Reterences135

7 Terminal Sliding Mode Control137

7.1 Terminal Sliding Mode Control137

7.1.1 System Description137

7.1.2 Design of Terminal Sliding Mode Controller138

7.1.3 The Solution of p(t)139

7.1.4 Simulation Example:Terminal Sliding Mode Control for the Inverted Pendulum141

7.2 Nonsingular Terminal Sliding Mode Control146

7.2.1 System Description146

7.2.2 Normal Terminal Sliding Mode Control147

7.2.3 Nonsingular Terminal Sliding Mode Control148

7.2.4 Simulation Example149

7.3 Fast Terminal Sliding Mode Control155

7.3.1 Design of Fast Terminal Sliding Mode Controller155

7.3.2 Design of Global Fast Sliding Mode Controller157

7.3.3 Design of Position Tracking Controller158

7.3.4 Simulation Example158

References162

8 Sliding Mode Control Based on Observer163

8.1 High-Gain Observer163

8.1.1 High-Gain Observer Description163

8.1.2 Stability Analysis for Second-Order System164

8.1.3 Simulation Example166

8.2 Sliding Mode Control Based on High Gain Observer168

8.2.1 System Description168

8.2.2 Controller Design169

8.2.3 Simulation Example170

8.3 Extended State Observer Design174

8.3.1 System Description174

8.3.2 Extended State Observer Design175

8.3.3 Simulation Example178

8.4 Sliding Mode Control Based on Extended State Observer183

8.4.1 System Description183

8.4.2 Sliding Mode Controller Design184

8.4.3 Simulation Example185

8.5 Universal Approximation Using High-Order Integral-Chain Differentiator191

8.5.1 System Description191

8.5.2 Integral-Chain Differentiator191

8.5.3 Simulation Example193

8.6 Sliding Mode Control Based on Integral-Chain Differentiator197

8.6.1 Integral-Chain Differentiator Approximation197

8.6.2 Design of Sliding Mode Controller198

8.6.3 Simulation Example201

8.7 Design and Analysis of Slow Time-Varying Disturbance Observer206

8.7.1 System Description206

8.7.2 Disturbance Observer Design206

8.7.3 Simulation Example207

8.8 Sliding Mode Control Based on Disturbance Observer210

8.8.1 Problem Statement210

8.8.2 Design and Analysis of Disturbance Observer210

8.8.3 Sliding Mode Controller Design211

8.8.4 Simulation Example212

8.9 Delayed Output Observer217

8.9.1 System Description217

8.9.2 Delayed Output Observer Design218

8.9.3 Delayed Output Observer Analysis218

8.9.4 Simulation Example220

8.10 Design of Controller Based on Delayed Output Observer221

8.10.1 Design of Controller221

8.10.2 Simulation Example223

References231

9 Fuzzy Sliding Mode Control233

9.1 Fuzzy Sliding Mode Control Based on Equivalent Control234

9.1.1 Design of Fuzzy Control234

9.1.2 Simulation Example235

9.2 Sliding Mode Control Based on Fuzzy Switch-Gain Regulation242

9.2.1 System Description242

9.2.2 Design of Sliding Mode Controller242

9.2.3 Design of Fuzzy System243

9.2.4 Simulation Example245

9.3 Sliding Mode Control Based on Fuzzy System Approximation251

9.3.1 Problem Statement251

9.3.2 Controller Design Based on Fuzzy System251

9.3.3 Simulation Example254

9.4 Adaptive Fuzzy Control Based on Fuzzy Compensation for Manipulator260

9.4.1 System Description260

9.4.2 Control Based on Fuzzy Compensation260

9.4.3 Control Based on Friction Compensation262

9.4.4 Simulation Example263

9.5 Adaptive Sliding Mode Control Based on Switching Fuzzy271

9.5.1 Plant Description271

9.5.2 Design of Adaptive Fuzzy Sliding Mode Controller272

9.5.3 Simulation Example274

References279

10 Neural Network Sliding Mode Control281

10.1 Sliding Mode Control Based on RBF Neural Network Approximation282

10.1.1 Problem Statement282

10.1.2 Controller Design Based on a Radial Basis Function Neural Network282

10.1.3 Simulation Example284

10.2 RBF Network Adaptive Sliding Mode Control for Manipulator288

10.2.1 Problem Statement288

10.2.2 Sliding Mode Control with Respect to the Approximation of f(x)290

10.2.3 Simulation Example291

References300

11 Sliding Mode Control for Robot301

11.1 Model of Robotic Joints301

11.1.1 Model Description301

11.1.2 Model Description Example302

11.2 Sliding Mode Control Based on Input-Output Stability303

11.2.1 System Description303

11.2.2 Design of Controller304

11.2.3 Simulation Example306

11.3 Sliding Mode Control Based on Computed Torque Method312

11.3.1 Design of Controller312

11.3.2 Simulation Example313

11.4 Adaptive Sliding Mode Control for Manipulator318

11.4.1 Adaptive Sliding Mode Controller318

11.4.2 Simulation Example319

References329

12 Sliding Mode Control for Aircraft331

12.1 Sliding Mode Control for a Helicopter331

12.1.1 Mathematical Model of a Helicopter331

12.1.2 Dynamic Inversion Uncoupling Linearization332

12.1.3 Sliding Mode Controller Design333

12.1.4 Simulation Example334

12.2 Sliding Mode Control for an Uncertain Vertical Take-Off and Landing Aircraft339

12.2.1 System Description339

12.2.2 Transform of Model341

12.2.3 Controller Design344

12.2.4 Simulation Example347

References353

Index355