second stage – multidimensional sliding modes - eeci · introduction of sliding mode control ....
TRANSCRIPT
IntroductIon of SlIdIng Mode control Second Stage – Multidimensional Sliding Modes
Sliding mode in discontinuity surfaces and their intersection
c a
d
b
0=)(xs j
0=)(xsi
SECOND STAGEFinite Dimensional MIMO Systems
PlantController
Disturbance
Output
ControlReferenceInput
),,( utxfx = nRx∈ mRu∈
=<>
=−
+
mixstxuxsxu
uii
iii ,...,1 ,
0)( if ),(0)( if t),(
),(t),( txuxu ii−+ ≠
>++=−=
+=−=
+=++=
=
0,)sgn(esdisturbancboundedunknownare,)sgn(
where)(
)(213212222
21211111
223
1132
21
MMxxxssMuffxxssMu
utfxutfxx
xx
22211132
3212
)()( signsMtfsignsMtfxxxxxs
−+−++=++=
signsdifferent haveand)()(If
22
121322
ssMtftfxxM
++++>
213
3212 0
xxx
xxxs
−−=
→++=
( )21111111212
21 )sgn()(
xxssMuwhereutfxxx
xx+=−=
++−−==
1111
211
)( signsMtfxxxs
−+−=+=
signs different haveand)(If
11
111
sstfxM
+−>
12
212 0
xx
xxs
−=
→+=
{ 11 xx −=
■ Two dimensional Sliding Mode
Introduction of Sliding Mode Control
In two dimensional sliding mode, the system motion is (1) of order which is by two less
than the order of the original system.
(2) not depending on the disturbances f1 and f2 .
Two dimensional sliding mode
02 =S
01 =S
3x
2x
1x
11 xx −=
Introduction of Sliding Mode Control
■ Multi-dimensional Sliding Mode
Sliding mode in discontinuity surfaces and their intersection
c a
d
b
0=)(xs j
0=)(xsi
=<>
=
∈∈+=
−
+
mxstxuxstxuu
RuRxutxBtxfx
ii
iii
mn
,...,1i 0)( if ),(
0)( if ),(
,,),(),(
• In general case,
1
( ) 0 ( 1,.., ),
( ) 0, ( ,..., ).i
Tm
s x i m or
in manifold s x s s s
= =
= =
• Sliding mode occurs in the intersection of all m surfaces,
• The order of motion equation is by ‘m’ less than the order of original system
■ Outline of Sliding Mode Methodology
• Order reduction of the system
• Insensitivity with respect to parameter variations and disturbances
Enables a designer to simplify and decouple the design procedure.
s u = u0sign(s) s
u
u+
u-
s u u+
u-
Uav
)( 0→∞≈= ss
UK aveq
Introduction of Sliding Mode Control
Attained by finite control actions, unlike continuous high gain controls in conventional system.
Multidimensional Sliding Modes(Late Sixtieth)
mnm
T sxsxsxsxs −ℜ∈=== )0 ( )],(),...,([)( ,0)( 1
MatheMatIcal ProbleMS:
• Sliding Mode Equations • Existence Conditions
Mathematical Aspects ISliding Mode Equations
Sliding Mode Equation on s=0 ??? ),( , 0 cxxsssignuuux +=−== 0=+ cxx WHY ???
01 =b 111
22 xccx −−=).()( 111
1212111 tfdxccaax +−= −
Yu. Kornilov (1950),A. Popovski (1950)
. ),( 2211 xcxcssMsignu +=−=)()(
222221122
112121111
tfdubxaxaxtfdubxaxax
+++=+++=
Ya. Dolgolenko (1955), (0,0,...,0,1).Tx Ax bu b= + =
FILIPPOV”s
METHOD (1958):
( , ), ( , ) [ ( , , )]
sm
smu
x f x tf x t f x t uconv=
∈
fIlIPPov Method 1958
MatheMatIcal aSPectS I SlIdIng Mode equatIonS (cont).
A.F. Filippov, Application of the theory of differential equations with discontinuous right-hand sides to non-linear problems of automatic control, Proceedings of 1st IFAC Congress in Moscow, 1960, Butterworths, London, 1961.
grad s xn
x1
s(x)=0
fsm
−f
<>
==−
+
0)( if 0)( if
)( ),(xsfxsf
xfxfxConvex Hull fsm belongs to convex hull
Yu.I. Neimark, Note on A. Filippov’s paper, 1st IFAC Congress. dx/dt=Ax+bu+dv, u=-sign(s), v=-sign(s), s=cx
Nonuniqueness !?
+f
dx/dt=fsm
Professor N.
Equivalent Control MethodEquivalent Control Method
( , , )x f x u t=Control system
Discontinuous control u enforces sliding mode inmanifold s=(s1,…,sm )=0. }.{)( xsxG ∂∂=Then solution to ( , , ) 0 = ( , )eq eqs Gf x t u u u x t= = ⇒is substituted to system equation
( , , )eqx f x t u=s(x)=0 x2=s0(x1) , 02
msx ℜ∈ m-n1 ℜ∈x :
. )],(,,[ 110111mnfxstxfx −ℜ∈=
non-unIqueneSS, vector caSe
RegularizationA.A. Andronov (1954): Ideal relay is replaced by elementwith delay and then the value of delay is tended to zero.J. Andre and P. Seibert (1956): both delay and hysteresic.
u M
-M
a-as
1
2
3
s=-a
s=as=0
Lim[x(a,t)]=solution to Filippov’s equationwith parameter ‘a’ tending to zero.
c a
d b
0=)(xs j
0=)(xsi
RegularizationBoundary Layer
trajectorystate 0)( =xsmanifold
0)( =xsm
0)(1 =xs
0)( if )(0)( if )(
)(
<>
=−
+
xsxuxsxu
xuii
iii
2 ( , ) ( , ), ( ) , s ( ).Tu x x t s x s s∆ ⇒ ∆ ≤ ∆ =
)(),(~ 0
txtxmil =∆→∆
,)( ,, ),,(
mn xufxuxfx
ℜ∈ℜ∈
=
∆≤)(
xslayerboundary
Equivalent Control MethodEquivalent Control Method
utxBtxfx ),(),( +=Affine system
Discontinuous control u enforces sliding mode inmanifold s=(s1,…,sm )=0. ,0)det( ≠GB }.{)( xsxG ∂∂=Then solution to .)-(= ,0 -1GfGBuGBuGfs eq=+=is substituted to system equation
GfGBBfx -1)(= −s(x)=0 x2=s0(x1) , 02
msx ℜ∈ m-n1 ℜ∈x :
. )],(,,[ 110111mnfxstxfx −ℜ∈=
E.C.M. is substantiated by boundary layer regularization
Mathematical Aspects IISliding Mode Existence Conditions
0)( ,0)( 21 =′>′ TsTs0)"( ,0)"( 21 <= TsTs
1 s1=03
s2=0
0)0(0)0(
2
1
>=
ss
2
Scalar Control: 0lim0lim00
and ><−→+→ss
ss
s=0Vector Control
. 2 2
212
211
ssignssignsssignssigns
−−=+−=
c a
d b
0=)(xs j
0=)(xsi
( ) ( )[ ]xsxsxs mT ,,)( 1 =
matrix is nmxsG ×
∂∂
=
Stability of the origin in subspace S
Motion Equation:
GBuGfs +=
( ) ( )( ) ( )
. ,
0 if0 if
mm RuRs
xsxuxsxu
u
∈∈
<>
=−
+Component-wise
PIece-vISe lyaPunov functIonS I
Motion Equations:
)()(2),(2)(
212
211
ssignssignsssignssigns
−−=+−=
Lyapunov Function:
=
==
)()(
)(
),,( ),(
2
1
21
ssignssign
ssign
sssssignsV TT
Time Derivative:
222
11
−=∂∂
+∂∂
= ssVs
sVV
Sliding Mode Exists in s=0.
0)( ,0)( 21 =′>′ TsTs0)"( ,0)"( 21 <= TsTs
1 s1=0 3
s2=0
0)0(0)0(
2
1
>=
ss
2
PIece-vISe lyaPunov functIonS II
Lyapunov Function:
Time Derivative:
)()(2),()(2
212
211
ssignssignsssignssigns
+−=−−=
Motion Equations:
.1004
,)()(
)(
),,( ),(
2
1
21
=
=
==
Pssignssign
ssign
ssssPsignsV TT
.0)(67 2122
11
<−−=∂∂
+∂∂
= sssignssVs
sVV
Existence ConditionsLyapunov ApproachStability in subspace s: GBuGfs +=Finite-Time Convergence !!!Equivalent to Equation:
)](),...,([)]([ 1 mT ssignssignssign =
)()()( ssignxDxds α−=
Theorem. If 0>+ TDD then there exists such thatsliding mode exists in manifold
00 >α
0αα >0=s for .The statement of the theorem may be proven using sum of absolute values of
asa Lyapunov function.
is0)( >= ssignsV T
Sliding Mode Control DesignSliding Mode Control DesignSliding Mode Equation- is of reduced order- does not depend on control- depends on the equation of switching surfaces.
Design is decoupled into two independent subproblems:- design of the desired dynamics for a system of the (n-m)-thorder by a proper choice of a sliding manifold s=0;- enforcing sliding motion in this manifold which is equivalent to stability problem of the m-th order system.
. )],(,,[ 110111mnfxstxfx −ℜ∈=
Sliding Mode Control DesignSliding Mode Control DesignInvarianceInvariance
),(),(),( txhutxBtxfx ++=),( txh is disturbance vector
)(),( Brangetxh ∈Matching Condition
B. Drazenovic,The invariance conditions in variable structure systems, Automatica, v.5, No.3, Pergamon Press, 1969.
Design, Regular Form
.0)det( , ,),,(),,(
),,,(
222122122
12111
≠∈+=
∈= −
BRxutxxBtxxfx
Rxtxxfxm
mn
)( 102 xsx −= - psuedo control
0)(),( 10221 =+= xsxxxs - sliding manifold
]),(,[ 10111 txsxfx −= - sliding mode equation
depends neither nor),,( 212 txxf ),,( 212 txxB .
Reducing the System to the Regular Form
■ Regular Form
)( 102 xsx −=
+==
utxxBtxxfxtxxfx
),,(),,(),,(
2122122
2111
matrixmmr nonsingula :,,where
2
21
×ℜ∈ℜ∈ −
Buxx mmn
the first block does not depend on control
dimension second block = dimension of control
• Regular Form consists of two blocks
• In the Regular Form, the design procedure of sliding mode becomes much simpler.
▪ State x2 in the first block is handled as ‘intermediate control’ and selected as a function of the state x1 according to some performance criterion
0)()( 102 →+= xsxxsEquivalent to
▪ Discontinuous control u is selected such that the function have different signs and enforce sliding mode in the manifold s(x)=0
ss and
( )txsxfx ),(, 10111 −=
▪ After sliding mode occurs, further system motion is governed by the sliding mode equation
( ) ( ) 0 ,sgn 21 =+=−= xsxSSMu
( )( )txsxfx ,, 2222 =
( )21 xsx −=
( )XTxx
=
1
2
Regular Form
( )( ) ( )
( ) 0det, ,
,,,,,,
12
1211211
1222
≠∈∈
+==
− BRuRxutxxBtxxfx
txxfx
mmn
( ) ( ) mBRuRXuXBtXfX mn =∈∈+= Rank , , ,),(
Design, Frobenius TheoremReducing to Regular Form
.0)det( , ,),,(),,(
,),,(),,(
222122122
12112111
≠∈+=
∈+= −
BRxutxxBtxxfx
RxutxxBtxxfxm
mn
Coordinate Transformation: ),(1 xy ϕ= , ,1mny −ℜ∈ϕ
tBu
xf
xy
∂∂
+∂∂
+∂∂
=ϕϕϕ
1 ,
.0=∂∂ B
xϕ Frobenius Theorem
(Louk’yanov, 1981)
• To find a coordinate transformation for this system, suppose a system of ordinary differential equations,
0)(and),..,1(,)()( ≠=+= xbniuxbxfx niii
0)(),,..,1()( ≠== xbnixbx nii
)1,..,1(,)()(
−=== nixbxb
dxdx
xx
n
i
n
i
n
i
then we may have an (n-1)th order auxiliary system,
This implies that xi should be represented as
reducIng the SySteM to the regular forM
■ Nonlinear Coordinate Transformation for the Regular Form • Consider a nonlinear system with a scalar control,
constants)nintegratio (),,..,1(,),..,,,( 121 === − innii cnicccxx δ
)1,..,1(),,..,,( 21 −== nixxxc nii φand solve these equations with respect to constants ci , then
Differentiating both sides of equation w.r.t. xn yields
)1,..,1(,0...)()(
)()( and 0... 2
2
1
1
2
2
1
1−==
∂∂
++⋅∂∂
+⋅∂∂
=∂∂
++∂∂
+∂∂ ni
xxbxb
xxbxb
xdxdx
xdxdx
xdxdx
x n
i
n
i
n
i
n
n
n
i
n
i
n
i φφφφφφ
(2.1)
)1,..,1(,)( −== nixy ii φthen new state vector (y1 , . . , yn-1 , xn) is expressed as
( ) ( ) ( )
( )
−=+==
+==∂∂
++∂∂
+∂∂
==
)1,..,1()()()(grad
)(grad)(gradgrad...0
22
11
niuxbxfxxf
uxbxfxxx
xx
xx
y
nnn
Ti
Ti
Ti
Tin
n
iiii
φ
φφφφφφ
reducIng the SySteM to the regular forM
Finally, we have a function such that )(xiφ
( ) )1,..,1(0)(grad or 0)(...)()( T2
21
1−===
∂∂
++∂∂
+∂∂ nixbxb
xxb
xxb
x inn
iii φφφφ
• Let us introduce this function as a nonlinear coordinate transformation for the system (2.1)
)(xiφ
By substituting the (x1 , . . , xn-1) as a function of (y1 , . . , yn-1 , xn), we have the ‘Regular Form’
+=
=
order 1:),(),(
order 1-n : ),(st**
th*
uxybxyfx
xyfy
nnnnn
n
Enforcing Sliding Modes
enforces sliding mode0)( >+ TGBGB
)( ),( ssigntxMu −=
).( equuGBs −=),( txM
.)(s* *),(),( sGBssigntxMu T=−=equtxM >),(
Finite time convergence in the subspace s:
If then there exists scalar functionsuch that control in manifold s=0.General case: Transformation of discontinuity surfaces
Only upper estimate of equivalent control is needed
Integral SlIdIng Mode
Can stabilize the system in the desired way
System with disturbances
ProbleM StateMent
Integral SlIdIng Mode deSIgn PrIncIPle
Sliding manifold: