UNAM Dr.

Leonid Fridman

NEW TRENDS IN SLIDING

CONTROL MODE
L. Fridman
Universidad Nacional Autónoma de México
División de Posgrado, Facultad de en Ingeniería
Edificio ‘A’, Ciudad Universitaria
C.P. 70-256, México D. F.
lfridman@verona.fi-p.unam.mx
14 MAYO DE 2004
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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Given a system
 x1  x2
 f(x,t)
 x2  u  f ( x, t ) u
  x2 x
0
u     sgn( )
 (0)  1

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UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

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  sin(t )  sgn( )
2
  0

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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Motivations
Given a system f(x,t)
 x1  x2 u
 x
 x2  u  f ( x, t ) 0
Problem formulation: Design control function u to provide asymptotic
stability
lim x1  lim x2  0
t  t 
in presence of bounded uncertain term f ( x, t )  L , that contains model
uncertainties and external disturbances.

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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Basics of Sliding Mode Control x(0)

Desired compensated error dynamics (sliding surface):

  x1  cx1  0 x1  x1 (0)e  ct , x2  cx1 (0)e ct
•The purpose of the Sliding Mode Controller (SMC) is to drive a system's
trajectory to a user-chosen surface, named
•sliding surface, and to maintain the plant's state trajectory on this surface
thereafter. The motion of the system on the sliding surface is named
•sliding mode. The equation of the sliding surface must be selected such
that the system will exhibit the desired (given) behavior in the sliding mode
that will not depend on unwanted parameters (plant uncertainties and
external disturbances).
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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

x2
1. Sliding surface design

x(0) reaching phase

x1

sliding phase
  x2  cx1  0
2. SMC design

Sliding mode existence condition   0

Equivalent control   x2  cx1  u  f ( x, t )  cx2  0
ueq   f ( x, t )  cx2 uˆeq  cx2
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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

WHY Sliding mode control? More than Robustness-

(insensitivity!!!!)
to disturbances
and uncertainties
WHEN Sliding mode control?

Control plants that operate in presence of

unmodeled dynamics, parametric uncertainties
and severe external disturbances and noise:
aerospace vehicles, robots, etc.

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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Numerical example: Features:

x1 (0)  1.0, x2 (0)  0.5, c  1, 1. Invariance to disturbance
2. High frequency switching
f ( x, t )  2 sin 10t , u   x2  2.5sign

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 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Continuous and smooth sliding mode control

1. Continuous approximation via saturation function

sign  sat(/e)
1
 e 

-1

Numerical example:
x1 (0)  1.0, x2 (0)  0.5, c  1,
f ( x, t )  2 sin 10t , u   x2  2.5 sat ( / 0.01) 9
 UNAM Dr. Leonid Fridman
Intuitive theory of Sliding mode control

Simulations

Features:
1. Invariance to disturbance is lost to some extend
2. Continuous asymptotic control
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 UNAM Dr. Leonid Fridman
Second order Sliding mode control

1. Twisting Algorithm

    sign    sign 

 
Features:
1.Convergence in finite time for  and  
2.Robustness INSENSITIVITY!!!!
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3.Convergence O(h )

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 UNAM Dr. Leonid Fridman
New trends in sliding mode control

Chattering avoidance whit Twisting Algorithm (continuous control)

y1  y 2

y 2   t , x )   t , x )
   ,0  m    M ,  0
y1  
y 2  

 t )   for   1,

 (t )    sign    sign for   1,

Features:
1.Convergence in finite time for  and 
2.Robustness
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3.Convergence O(h 2 )
 UNAM Dr. Leonid Fridman
Continuous Second order Sliding mode control

2. Super Twisting Algorithm     0

Features:
u   x2 15  sign ( )  20 sign ( )d
0.5
1. Invariance to disturbance
2. Continuous control

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 UNAM Dr. Leonid Fridman
Sliding mode observers/differentiators

3. Second Order ROBUST TO NOISE Sliding Mode Observer

y1 (t )  x(t )  v1 (t ),
y2 (t )  x (t )  v2 (t ).

xˆ  10sign ( y  xˆ ) 

2

8sign ( y1  xˆ )

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 UNAM Dr. Leonid Fridman
Higher order Sliding mode control

4. High order slides modes controllers of arbitrary order

Features:
1.Convergence in finite time for
 ,  ,...,  ( r 1)
2.Robustness
3.Convergence O(h r )
4.r-Smooth control

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 UNAM Dr. Leonid Fridman
Higher order Sliding mode control

High order slides modes controllers of arbitrary order

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 UNAM Dr. Leonid Fridman
CHATTERING ANALISYS

Frequency analysis 1. Frecuency Methods

modifications. Boiko,
Castellanos LF IEEE
TAC2004
2. Universal Chattering
Test. Boiko, Iriarte,
Pisano, Usai, LF
3. Chattering Shaping.
Boiko, Iriarte, Pisano,
Usac, LF
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 UNAM Dr. Leonid Fridman
CHATTERING ANALISYS

Singularly Perturbed Approach

z  f ( z , s, x, u )
(s,x)
S
  g1 ( z , s, x )
s
PLANT
  g 2 ( z , s, x )
x
ACTUA
TOR

Integral Manifold LF IEEE TAC 2001

S
Averaging LF IEEE TAC 2002

Second Order Sliding Mode Controllers

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 UNAM Dr. Leonid Fridman
UNDERACTUATED SYSTEMS

x1  x 2   n (t , x )
x 2  f ( x1 , x 2 , u )   m (t , x )
SMC + H_{∞}
Fernando Castaños & LF
 m matched
Uncertainty
 n unmatched SMC + Optimal multimodel
Poznyak, Bejarano & LF

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 UNAM Dr. Leonid Fridman
OBSERVATION & IDENTIFICATION VIA 2 -SMC

x2   e1 sgn( e1 )
x1  ~
~

2 1 x ,u )  sgn( e )
x  g (t , x , ~
~
2 1

Uncertainty identification
Parameter identification
Identification of the time variant parameters

J. Dávila & LF
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 UNAM Dr. Leonid Fridman
RELAY DELAYED CONTROL

s   sgn s (t  1)
Countable set of periodic
Countablesetofperiodicso
solutions=sliding modes

Shustin, E. Fridman
LF 93

Set of Steady modes

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 UNAM Dr. Leonid Fridman
CONTROL OF OSCILLATIONS AMPLITUDE

Only sign s(t  1)

Is accessible
FFS 93------
s(t-1) is accessible
Strygin, Polyakov, LF

IJC 03, IJRNC 04

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UNAM Dr. Leonid Fridman
APPLICATIONS

Investigation and
implementation of 2-SMC
Shaping of Chattering
parameters

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