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Theory of Chattering Control by M. I. Zelikin , v. F. Borisov Book Details
| Book Name | Theory of Chattering Control |
| Author | M. I. Zelikin , v. F. Borisov |
| Category | Aeronautical Engineering Books, Education Books |
| Book Language | English |
| Pages | 256 |
| Country | India |
| Book Size | 9 MB |
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About Theory of Chattering Control by M. I. Zelikin , v. F. Borisov Book
The theory of chattering control, often referred to as "sliding mode control," is a control strategy used in dynamic systems to achieve robust and precise control in the presence of uncertainties, disturbances, and nonlinearities. Chattering refers to a high-frequency oscillatory behavior that occurs when a control signal switches rapidly between different values. The main objective of chattering control is to force the system's state trajectory to converge onto a predefined sliding surface or manifold, thereby achieving a desired control objective. Here's an overview of the key concepts and principles of chattering control:
Basic Concepts:
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Sliding Mode: Chattering control is based on the concept of sliding mode, where the system's state trajectory is constrained to a particular "sliding" surface. The control law is designed to drive the system toward and maintain it on this sliding surface.
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Sliding Surface: The sliding surface is defined in the state space and represents the desired state trajectory. It is designed to make the system insensitive to certain disturbances and uncertainties.
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Control Law: The control law consists of two components: a continuous control signal and a discontinuous switching term. The switching term ensures that the system's trajectory remains on the sliding surface.
Principles and Benefits:
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Robustness: Chattering control is inherently robust to uncertainties and disturbances, making it suitable for controlling systems with uncertain parameters.
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Nonlinearity Handling: The technique can effectively handle nonlinearities in the system dynamics.
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Precision: Chattering control can achieve precise tracking of desired trajectories, even in the presence of model uncertainties.
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Finite-Time Convergence: Chattering control can lead to finite-time convergence of the system trajectory to the sliding surface, ensuring rapid and accurate control.
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Minimization of Control Effort: The control effort switches between different values, which can help reduce energy consumption and wear on actuators.
Challenges and Considerations:
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Chattering Phenomenon: While chattering control provides robustness, it can lead to undesirable high-frequency oscillations in the control signal (chattering), which may not be suitable for all systems.
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Switching Frequency: The switching frequency of the control signal can be high, leading to practical implementation challenges and potential wear on actuators.
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Controller Design: Designing an effective chattering control law requires careful consideration of the sliding surface, switching conditions, and stability analysis.
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Singularities: The presence of singularities on the sliding surface can lead to challenges in the control law design.
Applications:
Chattering control has found applications in various engineering fields, including:
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Mechanical Systems: Control of robotic manipulators, flexible structures, and mechanical systems with uncertain dynamics.
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Electrical Systems: Control of power converters, electric drives, and other nonlinear electrical systems.
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Aerospace Systems: Control of aircraft, spacecraft, and satellite systems, especially in the presence of uncertainties and disturbances.
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Automotive Systems: Control of vehicle dynamics, engine management, and vehicle stability control.
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Process Control: Control of chemical processes, temperature regulation, and industrial automation.
Chattering control is a powerful technique for achieving robust and precise control in complex and uncertain systems. However, its practical implementation requires careful attention to system dynamics, control law design, and potential challenges associated with the chattering phenomenon.
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