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Sliding mode control in mechanical, electrical and, thermal distributed processes

Rao, Sachit Srinivasa
http://rave.ohiolink.edu/etdc/view?acc_num=osu1164817694

Abstract Details

2006, Doctor of Philosophy, Ohio State University, Mechanical Engineering.
Distributed Parameter (DP) systems defined by partial differential equations are commonly seen in many control applications, such as robotics and thermal systems. This work is involved in solving problems associated with such a system using Sliding Mode Control theory – which has been developed for controlling systems defined by ordinary differential equations having discontinuous right hand sides. However, that it can also be utilised to solve more than a control problem is demonstrated through a simulation algorithm and a parameter estimation scheme. Design using sliding mode control offers benefits such as invariance to system parameters and disturbances and, a reduction in system order. This control technique provides the same features as that offered by controlling a system with infinite gain, but with finite control inputs. These properties have been retained in controlling a DP system shown using a flexible inverted pendulum and a refrigeration process. The simulation algorithm utilises the differential-algebraic system of equations which appears when designing sliding mode control. First, the DP system is divided into numerous elements and the motion equations of each element are derived by applying basic laws; second, they are joined to form the entire system using boundary conditions. The DP system in this context is also known as a Descriptor system, and simulating which is a non-trivial task. However, by choosing the boundary conditions as switching surfaces and certain functions as discontinuous controls to enforce sliding mode, the motion of all the elements can be made to follow the original system. This unified simulation technique is able to simulate descriptor systems of varying index and without insisting on the consistency of initial condition requirement. The final problem – parameter estimation, has been solved in the original form. An adaptive observer with discontinuous inputs and adaptation laws is designed to follow the actual system. This scheme can be used for control design or for state estimation when the parameters of the system are unknown. The heat equation has been used to exhibit the generalised type of adaptive observer design.
Vadim Utkin (Advisor)
Engineering, Mechanical
sliding mode control; distributed parameter systems; inverted pendulum; heat equation; simulation; telegrapher's equations

Recommended Citations

Citations

  • Rao, S. S. (2006). Sliding mode control in mechanical, electrical and, thermal distributed processes [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1164817694

    APA Style (7th edition)

  • Rao, Sachit. Sliding mode control in mechanical, electrical and, thermal distributed processes. 2006. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1164817694.

    MLA Style (8th edition)

  • Rao, Sachit. "Sliding mode control in mechanical, electrical and, thermal distributed processes." Doctoral dissertation, Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=osu1164817694

    Chicago Manual of Style (17th edition)

osu1164817694
3,477
© 2006, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.
Release 3.2.12