Sliding Mode Control (SMC) and its Applications

Mr. Abhishek Kumar

(MT18EEE003)

Supervisor: Dr. Prakash Dwivedi

Department of Electrical Engineering

National Institute Of Technology, Uttarakhand

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 1 / 12
 Contents

Motivation
Sliding Mode Control: A brief introduction
Concept of Sliding Mode Control
Chattering: The main drawback
Chattering Reduction Method
Applications
Future Work
References

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 2 / 12
 Motivation

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 3 / 12
 Sliding Mode Control:A brief introduction

Sliding Mode Control is a type of Variable Structure System(VSC)

that posses robust charcteristics to system disturbances and
parameter uncertainities

It is an efficient tool to design robust controllers for complex high

order non linear dynamic plant operating under uncertainity
conditions.

Sliding controller design provides s a systematic approach to the

problem of maintaing stability and consistent performance.

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 4 / 12
 Concept of Sliding Mode Control

THE SMC DESIGN IS COMPOSED OF THREE STEPS

A sliding surface is designed which is globally given by:

d
s(t) = [ + λ](n−1) e(t) (1)
dt
Designing of a control law to provide convergence of a system
trajectory to the sliding surface, Thus the sliding surface should be
obtained in a finite time.
1
u = sign(s) (2)
2

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
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 continued...
Sliding Condition:
1d 2
s < −η|s| (3)
2 dt
This condition implies that the trajectory should hit the sliding surface

Figure 1
Mr. Abhishek Kumar (MT18EEE003) , Supervisor:
Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 6 / 12
 Chattering:The Main Drawback

In theory, the trajctories slide along the switching functions

In practice,there is high frequency switching. This high frequency

motion is called chattering

Solutions have been developed to reduce the chattering, so that the

trajectories remain in a small neighbourhood of the surface

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 7 / 12
 Chattering reduction

Chattering could be reduced or suppressed using different technique such

as:
Non linear gains
Dynamic Extension
Higher order sliding mode control
Second Order Sliding Mode
Super Twisting Algorithm
Arbitary Order Sliding Mode Controllers
Continuous Arbitary Order Sliding Mode Controllers
Use of saturator

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 8 / 12
 Application

Electro-mechanical Plants
Control of Electric Drives
DC-DC converters

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 9 / 12
 Future Work

To normalise the output voltage variation of PV panel

To deal with variable frequency, variable voltage output of Wind
Turbine

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 10 / 12
 Refrences

Utkin, Vadim, Jrgen Guldner, and Jingxin Shi. Sliding mode control
in electro-mechanical systems. CRC press, 2009
Utkin, Vadim I. ”Sliding mode control design principles and
applications to electric drives.” IEEE transactions on industrial
electronics 40, no. 1 (1993): 23-36.
Drakunov, Sergey, and Vadim Utkin. ”Sliding mode observers.
Tutorial.” In Proceedings of 1995 34th IEEE Conference on Decision
and Control, vol. 4, pp. 3376-3378. IEEE, 1995.

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 11 / 12
 Thank you...

Mr. Abhishek Kumar (MT18EEE003) , Supervisor:

Sliding Mode
Dr. Prakash
ControlDwivedi
(SMC) and
(Universities
its Applications
of Somewhere
Seminar,25
and Elsewhere)
Feb,2019 12 / 12