SLIDING MODE CONTROL Edited by Andrzej Bartoszewicz Sliding Mode Control Edited by Andrzej Bartoszewicz Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Ivana Lorkovic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright Jenny Solomon, 2010. Used under license from Shutterstock.com First published March, 2011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from [email protected] Sliding Mode Control, Edited by Andrzej Bartoszewicz p. cm. ISBN 978-953-307-162-6 free online editions of InTech Books and Journals can be found at www.intechopen.com Contents Preface IX Part 1 Sliding Mode Control in Power Electronics 1 Chapter 1 Sliding Mode Control and Fuzzy Sliding Mode Control for DC-DC Converters 3 Kamel Ben Saad, Abdelaziz Sahbani and Mohamed Benrejeb Chapter 2 Investigation of Single-Phase Inverter and Single-Phase Series Active Power Filter with Sliding Mode Control 25 Mariya Petkova, Mihail Antchev and Vanjo Gourgoulitsov Chapter 3 Sliding Mode Control for Industrial Controllers 45 Khalifa Al-Hosani, Vadim Utkin and Andrey Malinin Chapter 4 The Synthetic Control of SMC and PI for Arc Welding/cutting Power Supply 77 Guo-Rong Zhu and Yong Kang Chapter 5 Sliding Mode Control of Fuel Cell, Supercapacitors and Batteries Hybrid Sources for Vehicle Applications 87 M. Y. Ayad, M. Becherif, A. Aboubou and A. Henni Chapter 6 Sensorless First- and Second-Order Sliding-Mode Control of a Wind Turbine-Driven Doubly-Fed Induction Generator 109 Ana Susperregui, Gerardo Tapia and M. Itsaso Martinez Part 2 Sliding Mode Control of Electric Drives 133 Chapter 7 Sliding Mode Control Design for Induction Motors: An Input-Output Approach 135 John Cortés-Romero, Alberto Luviano-Juárez and Hebertt Sira-Ramírez VI Contents Chapter 8 Cascade Sliding Mode Control of a Field Oriented Induction Motors with Varying Parameters 155 Abdellatif Reama, Fateh Mehazzem and Arben Cela Chapter 9 Sliding Mode Control of DC Drives 167 B. M. Patre, V. M. Panchade and Ravindrakumar M. Nagarale Chapter 10 Sliding Mode Position Controller for a Linear Switched Reluctance Actuator 181 António Espírito Santo, Maria do Rosário Calado and Carlos Manuel Cabrita Chapter 11 Application of Sliding Mode Control to Friction Compensation of a Mini Voice Coil Motor 203 Shir-Kuan Lin, Ti-Chung Lee and Ching-Lung Tsai Part 3 Sliding Mode Control of Robotic Systems 219 Chapter 12 Sliding Mode Control for Visual Servoing of Mobile Robots using a Generic Camera 221 Héctor M. Becerra and Carlos Sagüés Chapter 13 Super-Twisting Sliding Mode in Motion Control Systems 237 Jorge Rivera, LuisGarcia, Christian Mora, Juan J. Raygoza and Susana Ortega Chapter 14 Non-Adaptive Sliding Mode Controllers in Terms of Inertial Quasi-Velocities 255 Przemyslaw Herman and Krzysztof Kozlowski Part 4 Selected Applications of Sliding Mode Control 279 Chapter 15 Force/Motion Sliding Mode Control of Three Typical Mechanisms 281 Rong-Fong Fung and Chin-Fu Chang Chapter 16 Automatic Space Rendezvous and Docking using Second Order Sliding Mode Control 307 Christian Tournes, Yuri Shtessel and David Foreman Chapter 17 High Order Sliding Mode Control for Suppression of Nonlinear Dynamics in Mechanical Systems with Friction 331 Rogelio Hernandez Suarez, America Morales Diaz, Norberto Flores Guzman, Eliseo Hernandez Martinez and Hector Puebla Contents VII Chapter 18 Control of ROVs using a Model-free 2nd-Order Sliding Mode Approach 347 Tomás. Salgado-Jiménez, Luis G. García-Valdovinos and Guillermo Delgado-Ramírez Chapter 19 Sliding Mode Control Applied to a Novel Linear Axis Actuated by Pneumatic Muscles 369 Dominik Schindele and Harald Aschemann Chapter 20 Adaptive Sliding Mode Control of Adhesion Force in Railway Rolling Stocks 385 Jong Shik Kim, Sung Hwan Park, Jeong Ju Choi and Hiro-o Yamazaki Chapter 21 A Biomedical Application by Using Optimal Fuzzy Sliding-Mode Control 409 Bor-Jiunn Wen Part 5 New Trends in the Theory of Sliding Mode Control 429 Chapter 22 Sliding Mode Control of Second Order Dynamic System with State Constraints 431 Aleksandra Nowacka-Leverton and Andrzej Bartoszewicz Chapter 23 Sliding Mode Control System for Improvement in Transient and Steady-state Response 449 Takao Sato, Nozomu Araki, Yasuo Konishi and Hiroyuki Ishigaki Chapter 24 A New Design for Noise-Induced Chattering Reduction in Sliding Mode Control 461 Min-Shin Chen and Ming-Lei Tseng Chapter 25 Multimodel Discrete Second Order Sliding Mode Control : Stability Analysis and Real Time Application on a Chemical Reactor 473 Mohamed Mihoub, Ahmed Said Nouri and Ridha Ben Abdennour Chapter 26 Two Dimensional Sliding Mode Control 491 Hassan Adloo, S.Vahid Naghavi, Ahad Soltani Sarvestani and Erfan Shahriari Chapter 27 Sliding Mode Control Using Neural Networks 509 Muhammad Yasser, Marina Arifin and Takashi Yahagi Chapter 28 Sliding Mode Control Approach for Training On-line Neural Networks with Adaptive Learning Rate 523 Ademir Nied and José de Oliveira Preface The theory of variable structure systems with sliding modes is currently one of the most important research topics within the control engineering domain. Moreover, recently a number of important applications of the systems primarily in the fi eld of power electronics, control of electric drives, robotics and position regulation of sophis- ticated mechanical systems have also been reported. Therefore, the objective of this monograph is to present the most signifi cant latest developments in the theory and engineering applications of the sliding mode control and to stimulate further research in this fi eld. The monograph consists of 28 chapters. It begins with six contributions devoted to various signifi cant issues in power electronics. In the fi rst chapter, Ben Saad et al. pro- pose, test and compare sliding mode and fuzzy sliding mode controllers for DC-DC converters. In the second chapter, Petkova et al. consider the operation of the single- phase inverter and single-phase active power fi lter and prove, both in simulations and laboratory experiments, the eff ectiveness of sliding mode controllers in these two ap- plications. Then, Al-Hosani et al. also consider the design of DC-DC buck and boost converters. They develop the sliding mode approach which implements – very common in industry – proportional integral derivative (PID) controllers. The main idea of that chapter may be summarized as enforcing sliding mode such that the output converter voltage contains proportional, integral and derivative components with the predefi ned coeffi cients. Chatt ering is then reduced through the use of multiphase power converter structure. The proposed design methods are confi rmed by means of computer simula- tions. In the next chapter, Zhu and Kang consider arc welding/cutt ing power supply and propose a “synthetic” sliding mode and PI controller. They propose to use the PI controller in the current loop and the sliding mode controller in the voltage loop. The results are verifi ed by experiments conducted on a 20 kW arc welding/cutt ing power source. They show on one hand good dynamic performance of the system, and on the other decreased undesirable voltage overshoot. Another contribution concerned with power electronics is the chapter by Ayad et al. which presents sliding mode control of fuel cells, supercapacitors and batt ery hybrid sources for vehicle applications. Then, the chapter by Susperregui presents and evaluates fi rst-order and higher-order sensorless sliding mode control algorithms, for a doubly-fed induction generator. The algorithms not only aim at governing active and reactive power exchange between the doubly-fed induction generator stator and the grid, but also ensure the synchronization required for smooth connection of the generator stator to the grid. Sliding mode systems are a feasible option not only for power converter control but also for electric drive regulation. Therefore an important issue of induction motor control is X Preface addressed in the next two chapters. The chapter by Cortes-Romero and Sira-Ramirez presents a combination of two control loops, one employing a discontinuous sliding mode controller and another one based on the combination of generalized proportional integral control and gener- alized proportional integral disturbance observer. The authors of the chapter demonstrate – by experiments performed on an actual induction motor test bed with a voltage controlled brake – that the proposed combination results in robust position and tracking control of induction motors. In the next chapter, writt en by Reama et al. a new simple and easy to implement adap- tive sliding mode scheme for speed and fl ux control of induction motor using online estimation of the rotor resistance and load torque are proposed. The two chapters on control of induction motors are followed by a contribution of Patre and Panchade, which is concerned with a unifi ed sliding mode approach to torque, position, current and speed regulation of DC drives. Then the next chapter, by Santo et al., presents the design and implementation of a sliding mode position controller for a linear switched reluctance actuator devoted primarily for robotic applications. The section devoted to the problem of electric drive control ends up with a chapter on friction compensation for a mini voice coil motors. The chapter writt en by Lin et al., demonstrates that sliding mode control approach may reliably eliminate stick slip oscillations and reduce the steady state error. This conclusion is drawn based on experimental results performed on a mini voice coil motor mounted on a compact camera module. The next three chapters are concerned with selected issues in robotics. The fi rst of them, writ- ten by Becerra and Sagues proposes a robust controller for image-based visual servoing for diff erential drive mobile robots. The second one, by Rivera et al., is devoted to the application of a higher order, namely super-twisting sliding mode controller for trajectory tracking of an under-actuated manipulator and also for induction motors. Then Herman and Kozłowski con- sider rigid, serial manipulators and present an extensive survey of selected non-adaptive slid- ing mode controllers expressed in terms of the inertial quasi-velocities. They also point out a number of advantages off ered by sliding mode control schemes using inertial quasi-velocities. The next seven chapters present successful applications of sliding mode control paradigm in other areas than power electronics, electric drives and robotics. The section devoted to those applications begins with the chapter by Fung and Chang on sliding mode force and motion control of three very popular mechanisms, i.e. slider-crank, quick-return and toggle mecha- nism. Then Tournes et al. propose a higher order sliding mode control scheme for automatic docking of space vehicles. The issue of higher order sliding mode control is also considered in the chapter, by Suares et al. In that contribution higher order sliding mode is successfully used to suppress nonlinear dynamics in physical plants with friction which is inevitable in all me- chanical systems. Higher order sliding mode approach is further considered in the chapter by Salgado-Jiménez et al. on control of remotely operated vehicles which are nowadays indispens- able in performing the inspection tasks and maintenance of numerous underwater structures, common in the oil industry, especially in deep and not easily accessible to humans waters. That chapter demonstrates that sliding mode control is a viable option for controlling underwater vehicles which operate in a highly dynamic and uncertain environment oft en aff ected by waves and strong currents. Another interesting and very well worked out application is described in the next chapter authored by Schindele and Aschemann. They propose three types of sliding mode controllers (conventional, second-order and proxy) for a linear axis driven by four pneu- matic muscles and verify performance of these controllers on a laboratory test rig. Then Kim et al. present adaptive sliding mode controller of adhesion force between the rail and the wheel in railway rolling stocks. The section concerned with various applications of sliding mode con- trol concludes with the chapter by Wen on optimal fuzzy sliding mode control of biochips and biochemical reactions.