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Title: Development and applications of new sliding mode control approaches
Authors: PAN YAJUN
Keywords: Sliding mode control, variable structure control.
Issue Date: 1-Sep-2003
Citation: PAN YAJUN (2003-09-01). Development and applications of new sliding mode control approaches. ScholarBank@NUS Repository.
Abstract: The main purpose of this thesis is to develop new sliding mode control (SMC) approaches for theoretical and application problems. In order to acquire the equivalent control profile, the sliding mode controller with the closed-loop filtering architecture is proposed by incorporating two first order filters.

For the tracking control tasks of a class of nonlinear uncertain systems with two cascaded subsystems, the sliding mode control and nonlinear H^{\infty} control are integrated to function in a complementary manner, where the nonlinear H^{\infty} control law for the first subsystem well defines a nonlinear switching surface.

When the nonlinear system cannot be seperated into two cascaded subsystems, an integral sliding mode control is analyzed and designed under the framework of Lyapunov technology, in which two types of unmatched system uncertainties are considered and their effects to the sliding manifold are explored.

Without a prior knowledge of control directions, a new adaptive variable structure control scheme is proposed for nonlinear systems.

Furthermore, to eliminate chattering phenomena, a new fractional interpolation based smoothing scheme is proposed for variable structure control.

New sliding mode control approaches are also developed to realize other control objectives such as disturbance estimation, modular approach (integrated with iterative learning control), time-varying parameter identification and are applied to the real systems such as multi-link robotic manipulators, permanent magnet synchronous motors (PMSM), DC servo motors, etc.
Appears in Collections:Ph.D Theses (Open)

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