Sliding Mode Control Part II

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Control Systems Engineering with Techibro

Control Systems Engineering with Techibro

Күн бұрын

Пікірлер: 51
@johnathonstreet619
@johnathonstreet619 4 жыл бұрын
Great lecture! Subscribed. I hope you have more lectures coming
@jx4864
@jx4864 2 жыл бұрын
You explain this sliding mode control so well. Thank you so much 😊
@jimmylu9156
@jimmylu9156 2 жыл бұрын
Instead of relying on intuition to explain your choice of the sliding surface in your first example, you can rigorously prove that S=0 achieves the desired property by showing that the eigenvalues of the resulting system, x_dd + x_d + x = 0, has a negative real-part, and x therefore converges to 0 asymptotically.
@ibrahimhalilteke4399
@ibrahimhalilteke4399 Жыл бұрын
Dear Sir Prof. Dr. Ali Thank you for making this beautiful instructional video. I had two questions, if you could answer them, I would appreciate it. 1- When I examine different sources or videos, I see that the expression x'' is written in two different ways. I see that in some sources the term control rule (u) is multiplied by the expression b(x), while in some sources the term u is written separately, which statement is correct? 2- While writing the control rule of the 2nd or 3rd order systems, I see that the term u is obtained with assumptions, how logical is it to establish a control system based on the control rule (u) obtained with the assumptions?
@cset
@cset Жыл бұрын
Dear Ibrahim, Thank you for your kind remarks. Here is my take on your questions. 1) Multiplying the control u with b(x) or writing the control u separately, both methods are correct. There are many types and forms of control system design and hence there are many different ways in which you will find the expression for u. Usually, if you are a beginner, you start with linear control systems. 2) There are two main purposes of obtaining u with assumptions. First, the assumptions are taken to make the problem of designing u to become easy. Here, the care must be taken that the assumptions must not be unrealistic. Second, the assumptions are related to some realistic constraints. In this case, the options for designing of u become limited but it is something that needs to be taken into account. Overall, it is logical to make assumptions as long as the assumptions are sensible.
@abderahmanealioua9291
@abderahmanealioua9291 3 жыл бұрын
thank you so much sir it's really helpful and we are waiting more from you
@treasaseb
@treasaseb 4 жыл бұрын
Sir, thank u for highly informative lectures on SMC...I have a doubt...is the chattering in x3 us due to control input u....will there be chattering in other states x1 x2..which are independent of u
@cset
@cset 4 жыл бұрын
Thank you for the encouraging remarks. The chattering is indeed due to the switching of the control input u. Since the rate of change of x3 is directly proportional to u, there is maximum chattering in x3. x1 and x2 will also have chattering because of indirect dependence on u but chattering will be less compared to that in x3. So the sequence (for the given example) is, switching of u affects x3 (directly), now chattering in x3 affects x2, and finally, chattering in x2 affects x1 (hence x1 is least affected).
@treasaseb
@treasaseb 4 жыл бұрын
@@cset Thank u sir😊
@alikanaan584
@alikanaan584 2 жыл бұрын
thank u so much, such a great lecture. i hope to get the PDF of the two parts
@menouerdjillali2358
@menouerdjillali2358 2 жыл бұрын
I need to applay the SMC with seconde ordre système define by transfert function seconde ordre
@cset
@cset 2 жыл бұрын
A second order system is discussed here kzbin.info/www/bejne/Z3_NmpKpf9B_rNk maybe its better to convert transfer function into state space and then apply SMC
@منوعاتثقافيةتعليمية
@منوعاتثقافيةتعليمية 3 жыл бұрын
Dear Dr. Ali Nasir I have a question about design sliding surface function Is the sliding surface function depend on number of states or the order of the system equation? I have system with 6 states but the second derivative and first derivative. In this case how can I select the sliding surface function?? Thanks
@cset
@cset 3 жыл бұрын
There are two rules of thumb for selecting the sliding surface. 1) S = 0 must be useful in terms of achievement of the control objective. 2) The control input “u” should appear in the S_dot So, the sliding surface depends upon the states that are being controlled (to achieve a certain value) and the states whose derivative involves the control input “u”. But again the equation for S shall be crafted in such a way that whenever S = 0, the objective of the control is achieved.
@arrow4redemption
@arrow4redemption Ай бұрын
Thank you Prof. Please why does the first code has plus one (u = -x(2)-(-b*x(1)+a*x(2)^2+1)*sign(s);) and there is no control gain after the sign.
@cset
@cset Ай бұрын
Thank you, that is a mistake. Plus one should be replaced with sign(s)-->u = -x(2)-(-b*x(1)+a*x(2)^2+sign(s)) instead of sign(s) being a multiplier of (-b*x(1)+a*x(2)^2+1).
@arrow4redemption
@arrow4redemption Ай бұрын
@@cset Thank you so much Prof. Please Prof., can you do one for active magnet bearing control using nonlinear controller
@cset
@cset Ай бұрын
@@arrow4redemption this one may be useful for you kzbin.info/www/bejne/ona4gmWZpLF3qbssi=fdhcaqYX-wUhEo0y
@arrow4redemption
@arrow4redemption Ай бұрын
@@cset Thank you so much Prof. Please Prof, how can external disturbance be introduced to the active magnet bearing system to check for controller robustness ?
@cset
@cset Ай бұрын
@@arrow4redemption you can add a small random number to "u". That is called matched disturbance. For example if u = -k*x, with disturbance, it becomes u = -kx+d where d is a small random number e.g., d = 0.1*randn(1) etc. As for the state space model, without disturbance, it is like x_dot = Ax + Bu. With matched disturbance, it would be x_dot = Ax + Bu + Ed where E = B
@100rabhkr_India
@100rabhkr_India 3 жыл бұрын
Why you dont consider the Error (Eta) when you write the equation for Sliding variable. like S= (Eta dot)+ (Lamda x Eta)
@cset
@cset 3 жыл бұрын
That is a good point. I have presented the sliding surface as a linear combination of the output and its derivative because I am demonstrating the control design for the stability problem. So error itself is equal to the value of the output. In general, however, when dealing with reference tracking problems, we use eta and eta_dot
@100rabhkr_India
@100rabhkr_India 3 жыл бұрын
@@cset another doubt. For sliding mode, if I chose my input with the uncertainty, for example x2 dot= x3 + x2+ (1 + theta) u where theta is my uncertainty with which the input is associated, how to chose my input signal in the form of u and v
@cset
@cset 3 жыл бұрын
@@100rabhkr_India There is no special method for such a situation that I am aware of. The main objective is to make S*S_dot
@melesmengistu4045
@melesmengistu4045 3 жыл бұрын
nice tutorial, please how can i design sliding surface for an anderactuated system?
@ayoogun5004
@ayoogun5004 3 жыл бұрын
Please can you also teach us on writing the codes for this particular examples?... So we could learn and confirm the results by ourselves.
@cset
@cset 3 жыл бұрын
Absolutely, I have a whole playlist on teaching implementation of Control using MATLAB kzbin.info/aero/PLmwDtdfGY3-brehZArGHUeWCcq1-wHozA You can get started from here: kzbin.info/www/bejne/d5KTZYZpeMxgjMU
@souravde6116
@souravde6116 2 жыл бұрын
SIr can you provide the matlab code or any matlab tutorial that explains the concept.
@alisyal9570
@alisyal9570 3 жыл бұрын
Sir how in last example in Sdot +Thita 2 (x1) is convert into -Thita 2 (x1)
@cset
@cset 3 жыл бұрын
That must be a typo. Keep the + sign in the subsequent step.
@iqragul136
@iqragul136 2 жыл бұрын
Assalum o alikum Professor. Can you please make and upload lectures on Integral SMC, double Integral SMC, terminal SMC, Supertwisting SMC.
@cset
@cset 2 жыл бұрын
Thank you for your suggestion, please refer to the following playlist kzbin.info/aero/PLmwDtdfGY3-brehZArGHUeWCcq1-wHozA It has multiple videos on various types of SMC. Hope that it will be useful.
@menouerdjillali2358
@menouerdjillali2358 2 жыл бұрын
Please l need an exemple to use sliding mode control with seconde ordre système
@RajnishPO
@RajnishPO 4 жыл бұрын
Kindly give an theoretical /non mathematical overview of the controller in general as an introduction with specific refrence of Sliding Mode Controller
@cset
@cset 4 жыл бұрын
Dear Sir, I do have an introductory lecture (non-mathematical) kzbin.info/www/bejne/iZLOnq2Xd9iiY8k but I guess it is not biased towards SMC. For SMC, I have this lecture that covers the basic concept (kzbin.info/www/bejne/Z3_NmpKpf9B_rNk)
@RajnishPO
@RajnishPO 4 жыл бұрын
Thank you very much Sir..
@pengyoucn7847
@pengyoucn7847 3 жыл бұрын
Sir, could you explain the sliding mode controller for electric load simulator?
@منوعاتثقافيةتعليمية
@منوعاتثقافيةتعليمية 3 жыл бұрын
hello, why v is positive? and theta X2 is negative why? can you correct the lecture with one page? Sdot times S, I don't understand why S not multiplied with other terms?
@cset
@cset 3 жыл бұрын
Thank you for pointing this out. I have posted the corrections in the description of the video. 1) v is positive (that should not be an issue although taking v as negative would not make any difference in the final expression for u) 2) theta2*x1 is negative by mistake. It should be positive 3) S is multiplied with all the terms. In fact that is how we get (after cancellations) -S*sign(S) on the right-hand side. I hope that I have clarified enough. If you need more explanation, let me know.
@منوعاتثقافيةتعليمية
@منوعاتثقافيةتعليمية 3 жыл бұрын
@@cset thank you very much Dr Ali It's very clear now.
@sushantpatil2816
@sushantpatil2816 3 жыл бұрын
Sliding surface S = x3 is also possible.. right?
@cset
@cset 3 жыл бұрын
Yes, that is possible under specific control objectives. For example, x3 = 0 ensures x2 to be constant and x1 to be linear... if that is desirable, then S=x3 is okay. But if you need all of x1, x2, x3 to go to zero, then S = x1 + x2 + x3 (for the dynamics given in example) is better because S = x3 would not work.
@honesttalks4149
@honesttalks4149 4 жыл бұрын
Sir i need some assistance of yours in my research thesis?? How can I contact you? Please i need your help.
@lifesgood5665
@lifesgood5665 9 ай бұрын
plz provide code
@cset
@cset 9 ай бұрын
added in the description of the video
@lifesgood5665
@lifesgood5665 9 ай бұрын
@@cset sor can we get ur contact
@shamsusalehkwalli8071
@shamsusalehkwalli8071 3 жыл бұрын
immensely helpful
@medarametlapraveen
@medarametlapraveen 2 жыл бұрын
sir continue lecture for solving in convergence in prescribed time.
@raymondzhao9557
@raymondzhao9557 4 жыл бұрын
Could you please share the MATLAB file ? Thank you very much!
@cset
@cset 4 жыл бұрын
Even better, I have shared the videos on how to write the code for feedback control systems (including a video on MATLAB code for higher-order sliding mode control) kzbin.info/www/bejne/d5KTZYZpeMxgjMU kzbin.info/www/bejne/baDVaaSkqdmlers
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