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Recent Advances in Robust Control Theory and Applications in Robotics and Electromechanics Part 9

Tham khảo tài liệu 'recent advances in robust control theory and applications in robotics and electromechanics part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 13 Robust High Order Sliding Mode Control of Permanent Magnet Synchronous Motors Huangfu Yigeng1 S. Laghrouche2 Liu Weiguo1 and A. Miraoui2 Worthwestern Polytechnical University 2University of Technology of Belfort-Montbeliard 1China 2France 1. Introduction Nonlinear system control has been widely concern of the research. At present the nonlinear system decoupling control and static feedback linearization that based on the theory of differential geometry brought the research getting rid of limitation for local linearization and small scale motion. However differential geometry control must depend on precise mathematical model. As a matter of fact the control system usually is with parameters uncertainties and output disturbance. Considering sliding mode variable structure control with good robust which was not sensitive for parameters perturbation and external disturbance the combination idea of nonlinear system and sliding mode controls was obtained by reference to the large number of documents. Thus it not only can improve system robustness but solve the difficulties problem of nonlinear sliding mode surface structure. As known to all traditional sliding mode had a defect that is chattering phenomenon. A plenty of research papers focus on elimination avoidance chattering by using different methods. By comparing the chapter is concerned with novel design method for high order sliding mode control which can eliminate chattering fundamentally. Especially the approach and realization of nonlinear system high order sliding mode control is presented. High order sliding mode technique is the latest study. This chapter from the theory analysis to the simulation and experiment deeply study high order sliding mode control principle and its applications. The arbitrary order sliding mode controller is employed whose relative degree can equal any values instead of one. In addition the control systems design is very often to differentiate the variables. Through the derivation