机械系统先进滑模变结构控制：设计、分析及MATLAB仿真

.1.7 digital simulation of sliding mode control
1.7.1 basic theory
1.7.2 simulation example
references
2 normal sliding mode control
2.1 sliding mode control based on nominal model
2.1.1 system description
2.1.2 the structure of control system
2.1.3 design of nominal model
2.1.4 sliding mode controller design for actual plant
2.1.5 simulation
2.2 global sliding mode control for an uncertain system
2.2.1 system description
2.2.2 global sliding mode design
2.2.3 sliding mode controller design
2.2.4 simulation example
2.3 sliding mode control based on linearization feedback control
2.3.1 linearization feedback control
2.3.2 simulation example
2.3.3 sliding mode control based on linearization feedback
2.3.4 simulation example
2.4 input-output feedback linearization control
2.4.1 system description.
2.4.2 controller design.
2.4.3 simulation example
2.5 sliding mode control based on input-output feedback linearization
2.5. 1 system description.
2.5.2 controller design.
2.5.3 simulation example
2.6 sliding mode control based on low pass filter
2.6.1 system description.
2.6.2 sliding mode controller design
2.6.3 simulation example
references
3 advanced sliding mode control.
3.1 sliding mode control based on a linear matrix inequality for inverted pendulum
3.1. 1 system description.
3.1.2 equivalent sliding mode control
3.1.3 sliding mode control based on auxiliary feedback
3.1.4 simulation example
3.2 backstepping sliding mode control for a inverted pendulum.
3.2.1 the basic theory
3.2.2 system description
3.2.3 controller design
3.2.4 simulation example
references
4 discrete sliding mode control
4.1 discrete sliding mode controller design and analysis
4.1.1 system description
4.1.2 controller design and analysis
4.1.3 simulation example
4.2 discrete sliding mode control based on disturbance observer
4.2.1 system description
4.2.2 discrete sliding mode control based on disturbance observer
4.2.3 convergent analysis of disturbance observer
4.2.4 stability analysis
4.2.5 simulation example
reference
5 dynamic sliding mode control
5.1 problem statement
5.2 dynamic sliding mode control based on dynamic switching functions
5.2.1 system description
5.2.2 design of controller
5.2.3 simulation example
reference
6 adaptive sliding mode control for mechanical systems
6.1 adaptive sliding mode control for mechanical systems
6.1.1 system description.
6.1.2 design of adaptive sliding mode controller
6.1.3 simulation example
6.2 adaptive sliding mode control of inverted pendulum
6.2.1 system description
6.2.2 control system design
6.2.3 simulation example
references
7 terminal sliding mode control
7.1 terminal sliding mode control
7.1.1 system description
7.1.2 design of terminal sliding mode controller
7.1.3 the solution of p(t).
7.1.4 simulation example: terminal sliding mode control for the inverted pendulum
7.2 nonsingular terminal sliding mode control
7.2.1 system description
7.2.2 normal terminal sliding mode control
7.2.3 nonsingular terminal sliding mode control
7.2.4 simulation example
7.3 fast terminal sliding mode control
7.3.1 design of fast terminal sliding mode controller
7.3.2 design of global fast sliding mode controller
7.3.3 design of position tracking controller
7.3.4 simulation example
references
8 sliding mode control based on observer.
8.1 high-gain observer
8.1.1 high-gain observer description.
8.1.2 stability analysis for second-order system
8.1.3 simulation example
8.2 sliding mode control based on high gain observer
8.2.1 system description.
8.2.2 controller design.
8.2.3 simulation example
8.3 extended state observer design.
8.3.1 system description.
8.3.2 extended state observer design
8.3.3 simulation example
8.4 sliding mode control based on extended state observer
8.4.1 system description.
8.4.2 sliding mode controller design
8.4.3 simulation example.
8.5 universal approximation using high-order integral-chain differentiator
8.5.1 system description
8.5.2 integral-chain differentiator
8.5.3 simulation example
8.6 sliding mode control based on integral-chain differentiator
8.6.1 integral-chain differentiator approximation
8.6.2 design of sliding mode controller
8.6.3 simulation example
8.7 design and analysis of slow time-varying disturbance observer
8.7.1 system description
8.7.2 disturbance observer design
8.7.3 simulation example
8.8 sliding mode control based on disturbance observer
8.8.1 problem statement.
8.8.2 design and analysis of disturbance observer
8.8.3 sliding mode controller design
8.8.4 simulation example
8.9 delayed output observer
8.9.1 system description
8.9.2 delayed output observer design
8.9.3 delayed output observer analysis
8.9.4 simulation example
8.10 design of controller based on delayed output observer
8.10.1 design of controller
8.10.2 simulation example
references
9 fuzzy sliding mode control
9.1 fuzzy sliding mode control based on equivalent control
9.1.1 design of fuzzy control
9.1.2 simulation example
9.2 sliding mode control based on fuzzy switch-gain regulation
9.2.1 system description
9.2.2 design of sliding mode controller
9.2.3 design of fuzzy system
9.2.4 simulation example
9.3 sliding mode control based on fuzzy system approximation
9.3.1 problem statement
9.3.2 controller design based on fuzzy system
9.3.3 simulation example
9.4 adaptive fuzzy control based on fuzzy compensation for manipulator
9.4.1 system description
9.4.2 control based on fuzzy compensation
9.4.3 control based on friction compensation
9.4.4 simulation_example
9.5 adaptive sliding mode control based. on switching fuzzy
9.5.1 plant description
9.5.2 design of adaptive fuzzy sliding mode controller
9.5.3 simulation example
references
10 neural network sliding mode control
10.1 sliding mode control based on rbf neural network approximation
10.1.1 problem statement
10.1.2 controller design based on a radial basis function neural network
10.1.3 simulation example.
10.2 rbf network adaptive sliding mode control for manipulator
10.2.1 problem statement
10.2.2 sliding mode control with respect to the approximation of f(x)
10.2.3 simulation example
references
11 sliding mode control for robot
11.1 model of robotic joints
11.1.1 model description
11.1.2 model description example
11.2 sliding mode control based on input-output stability
11.2.1 system description
11.2.2 design of controller
11.2.3 simulation example
11.3 sliding mode control based on computed torque method
11.3.1 design of controller
11.3.2 simulation example
11.4 adaptive sliding mode control for manipulator
11.4.1 adaptive sliding mode controller
11.4.2 simulation example
references
12 sliding mode control for aircraft
12.1 sliding mode control for a helicopter
12.1.1 mathematical model of a helicopter
12.1.2 dynamic inversion uncoupling linearization
12.1.3 sliding mode controller design
12.1.4 simulation example
12.2 sliding mode control for an uncertain vertical take-off and landing aircraft
12.2.1 system description
12.2.2 transform of model
12.2.3 controller design
12.2.4 simulation example
references
index