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Advanced Sliding Mode Controllers For Industrial Applications
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详细说明：Advanced Sliding Mode Controllers For Industrial ApplicationsADVANCED SLIDING MODE CONTROLLERS
FOR
INDUSTRIAL APPLICATIONS
Thesis submitted for the degree of
Doctor of Philosophy
at the University of Leicester
amer Iqbal Bhatti BSc.(Lahore), M.Sc.(London)
Department of Engineering
University
of leicester
July 1997
UMI Number: U531381
All rights reserved
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JMr
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UMI U531381
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To my parents
Acknowledgements
Certainly its a pleasant obligation to thank my supervisor Dr. S. K. Spurgeon for
her encouragement, support and guidance during the course of this research. Working
under her supervision has been surely a nice experience. I would further like to thank
Dr. D. W. Gu for many useful discussions. I an particularly grateful to Dr. C. Edwards
who introduced me to the field of sliding mode control with all its intricacies and nice
aspec
ts. Special thanks go to Dr. X.Y. Lu for many useful and fruitful discussions
I would like to thank all the members of the Control Group who have made working in
the group a memorable and pleasant experience especially Ghassan, Alex, Song Ju, Li
Quin, Abdul, Tim, Jens, Raza, Bag, Ahmet, Fu Wah, Mark, Mathew and Randall. I
would specially like to thank Shehzad Jehangir for all the nice time we spent together
I am short of words in acknowledging the love and support given to me by my father
who did not live long enough to see this thesis get finished, though he would be the
happiest person if he were around. I would like to thank my mother brothers for their
support and encouragement. My wife also deserves special thanks as she endured with
patience my writing up period
At the end I express my gratitude to the government of Pakistan for funding this
research. I am also grateful to Dr. Robert Dorey for his help during the Ford project
Leicester
July 1997
Papers Pertaining to the Thesis
Published Papers.
1. AI Bhatti, S K. Spurgeon, and R. Dorey. Idle speed control using a nonlinear
controller-observer pair. In Proceedings of 1997 IEe colloquium on Adaptive Con
trollers in Practice, pages 2/1-2/5, Coventry, UK, 1997
2. A I Bhatti, S K. Spurgeon, and R. Dorey. Robust nonlinear control of an automotive
engine. In Proceedings of 1997 European Control Conference, page not available,
Brussels, Belgium, 1997.
3. AI Bhatti, S.K. Spurgeon, R. Dorey, and C. Edwards. Rapid prototyping of a
sliding mode control for idle speed control. In Proceedings of 1997 Iee colloquium
on system Control Integration and Rapid Prototyping in the automotive Industry
pages 3/1-3/7, Birmingham, UK, 1997
4. A I Bhatti, S K. Spurgeon, and C edwards. Multiburner furnace control using
a nonlinear controller observer pair. In Proceedings of 1995 IEE colloquium on
Adaptive Controllers in Practice, pages 7/1-7/ 4, London, 1995
5. AI Bhatti, S K. Spurgeon, and C. Edwards. Robust control of a high temperature
multiburner heating plant. In Proceedings of 1996 UKACC Control Conference
pages 1022-1027, Exeter, UK, 1996
6. A I Bhatti, S.K. Spurgeon, and X.Y. Lu. Neural network model based indirect
sliding mode controller design. In Proceedings of 1996 UKACC Control Conference
pages 418-423, Exeter, UK, 1996
Unpublished Papers
1. AI Bhatti and S.K. Spurgeon. Sliding mode controllers based on neural network
models. Under review for journal publication
2. A I Bhatti, S.K. Spurgeon, and R. Dorey. Idle speed control of an automotive
engine using a robust nonlinear controller-observer pair. Under review for journal
publication
3. A I Bhatti, S K. Spurgeon, and R. Dorey. Sliding mode configurations for automotive
engine control. Under review for journal publication
4. A I Bhatti, S K. Spurgeon, and R. Dorey. a sliding mode controller observer pair
for application to engine idle speed control. An internal report written for Ford
motor company.
5. A I Bhatti,SK. Spurgeon, and x Y. Lu. Neural network modelling for sliding mode
controller design. Under review for a, conference
6. A I Bhatti, S K. Spurgeon, and x.Y. Lu. Sliding mode based robust parameter
estimation. Under review for a conference
7. AI Bhatti, S.K. Spurgeon, and x. Y. Lu. Sliding mode based robust parameter
estimation and control of nonlinear systems. Under review for journal publication
Contents
1 Introduction
1.1 Overview
1.2 Thesis contribution
4
1.3 Thesis structure
2 Sliding Mode Controller Design
2.1 Introduction
2.2 Basic concepts of sliding mode theory
2.2.1 Hyperplane design
,,,,,10
2.2.2 Reachability condition
11
2.3 Design example
12
2. 4 Sliding mode design procedure
2.4.1. Motivation for using linear models
6
2.4.2 Observer selection
2.4.3 Controller formulation
18
2.4.4 Nonlinear observer Formulation
22
2.5 Controller design issues
24
26 Summary....,,,.,,,,
25
3 Sliding Mode Control in Nonlinear Systems
26
3.1 Introduction
26
3.2 Indirect Sliding Mode Controller Design
3.2. 1 Model representation
889
3.2.2 Sliding surface
3.2.3 Reachability condition
30
3.2.4 Design Method
31
3.2.5 Advantages of the Indirect Approach to Sliding Mode Control
32
3.3 Design Example: Underwater Vehicle Position Control
3.3.1 Controller design
3.3.2 Closed loop simulation
3.4 Direct Sliding mode Control
3.4.1 Introduction
37
3.4.2 System model with uncertainty
38
3.4.3 Direct Sliding Surface
39
3.4.4 Design Method
3.4.5 Advantages of the direct approach to sliding mode control.... 42
3.5 Design Example: Direct sliding mode design for underwater vehicle . 42
3.5. 1. Calculation of the uncertainty bounds
3.5.2 Controller design
3.5.3 Simulation results
3.6 Comparison
3.7 Summary
4 Sliding Mode Control Based On Neural Networks
51
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