State-dependent boundary layer method for chattering elimination on sliding mode control

The purpose of this study is to reduce/eliminate the chattering effect inside boundary layer by using Sliding Mode Control (SMC) technique while maintaining the robustness of the system by improving the existance SMC input control. In this project, state-dependent boundary layer control technique is...

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Main Author:	Basri, Hassrizal Hassan
Format:	Thesis
Language:	English
Published:	2010
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/26992/1/HassrizalHassanBasriMFKE2010.pdf
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id	my-utm-ep.26992
record_format	uketd_dc
spelling	my-utm-ep.269922018-05-27T06:36:36Z State-dependent boundary layer method for chattering elimination on sliding mode control 2010-12 Basri, Hassrizal Hassan TK Electrical engineering. Electronics Nuclear engineering The purpose of this study is to reduce/eliminate the chattering effect inside boundary layer by using Sliding Mode Control (SMC) technique while maintaining the robustness of the system by improving the existance SMC input control. In this project, state-dependent boundary layer control technique is chosen since this method have an unique characteristic in order to manipulate the state variables value where the boundary layer width can be adjusted by following state variables current value. Then, this state-dependent boundary layer also will be implimented to the inverted pendulum dynamic system where the chattering elimination inside the boundary layer, error convergence inside the boundary layer and robustness of the system will be investigated by using Matlab-simulink. Besides that, the mathemathical equations of inverted pendulum dynamic system will be constructed by using Langrange’s equation which this system is forth order class system. For instance, the comparison result between basic SMC and improved SMC also will be investigated in order to observe the developed controller performance. 2010-12 Thesis http://eprints.utm.my/id/eprint/26992/ http://eprints.utm.my/id/eprint/26992/1/HassrizalHassanBasriMFKE2010.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Basri, Hassrizal Hassan State-dependent boundary layer method for chattering elimination on sliding mode control
description	The purpose of this study is to reduce/eliminate the chattering effect inside boundary layer by using Sliding Mode Control (SMC) technique while maintaining the robustness of the system by improving the existance SMC input control. In this project, state-dependent boundary layer control technique is chosen since this method have an unique characteristic in order to manipulate the state variables value where the boundary layer width can be adjusted by following state variables current value. Then, this state-dependent boundary layer also will be implimented to the inverted pendulum dynamic system where the chattering elimination inside the boundary layer, error convergence inside the boundary layer and robustness of the system will be investigated by using Matlab-simulink. Besides that, the mathemathical equations of inverted pendulum dynamic system will be constructed by using Langrange’s equation which this system is forth order class system. For instance, the comparison result between basic SMC and improved SMC also will be investigated in order to observe the developed controller performance.
format	Thesis
qualification_level	Master's degree
author	Basri, Hassrizal Hassan
author_facet	Basri, Hassrizal Hassan
author_sort	Basri, Hassrizal Hassan
title	State-dependent boundary layer method for chattering elimination on sliding mode control
title_short	State-dependent boundary layer method for chattering elimination on sliding mode control
title_full	State-dependent boundary layer method for chattering elimination on sliding mode control
title_fullStr	State-dependent boundary layer method for chattering elimination on sliding mode control
title_full_unstemmed	State-dependent boundary layer method for chattering elimination on sliding mode control
title_sort	state-dependent boundary layer method for chattering elimination on sliding mode control
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2010
url	http://eprints.utm.my/id/eprint/26992/1/HassrizalHassanBasriMFKE2010.pdf
_version_	1747815561161605120

State-dependent boundary layer method for chattering elimination on sliding mode control

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