ECE 7859
Transcript Abbreviation:
Sliding Mode Cntrl
Course Description:
Sliding modes an efficient tool to control high order dynamic plants operating under uncertainty conditions.
Course Levels:
Graduate
Designation:
Elective
General Education Course:
(N/A)
Cross-Listings:
Cross-listed in MechEng 7259.
Credit Hours (Minimum if “Range”selected):
3.00
Max Credit Hours:
3.00
Select if Repeatable:
Off
Maximum Repeatable Credits:
(N/A)
Total Completions Allowed:
(N/A)
Allow Multiple Enrollments in Term:
No
Course Length:
14 weeks (autumn or spring)
12 weeks (summer only)
Off Campus:
Never
Campus Location:
Columbus
Instruction Modes:
In Person (75-100% campus; 0-24% online)
Prerequisites and Co-requisites:
Prereq: 5750 (750) or MechEng 5372.
Electronically Enforced:
No
Exclusions:
Not open to students with credit for 859 or MechEng 7259 or 859.
Course Goals / Objectives:
Demonstrate the beneficial properties of sliding mode control which enables separation of the overall system motion into independent partial components of lower dimensions and low sensitivity to plant parameter variations and disturbances
Sliding mode control studies span heterogeneous problems (mathematical methods, design principles, applications). Major attention will be paid to sliding mode control design for finite-dimensional systems, governed by ordinary differential equations
The wide range of applications are demonstrated to show the advantages of the sliding mode control methodology (e.g. for electric motors, manipulators, mobile robots)
Overcome implementation difficulties, special attention will be paid to suppression of chattering caused by unmodeled dynamics
Check if concurrence sought:
No
Contact Hours:
| Topic | LEC | REC | LAB | LAB Inst |
|---|---|---|---|---|
| Examples of dynamic systems with sliding modes. Sliding modes in relay and variable structure systems | 3.0 | 0.0 | 0.0 | 0 |
| Mathematical background: differential equations with discontinuous right-hand sides, regularization methods, equivalent control method, sliding mode existence conditions | 6.0 | 0.0 | 0.0 | 0 |
| Design methods: decomposition, regular form of motion equations, eigenvalue placement and mean-square optimization in linear systems, control under uncertainty condition | 6.0 | 0.0 | 0.0 | 0 |
| Chattering problem: systems with unmodeled dynamics, motion separation in singularly perturbed systems, sliding mode in systems with observers, harmonic cancellation | 6.0 | 0.0 | 0.0 | 0 |
| Discrete-time sliding mode control: definitions, design methods, control in linear systems | 5.0 | 0.0 | 0.0 | 0 |
| Control in distributed systems: motion equations, distributed control, modal control, point-wise control | 4.0 | 0.0 | 0.0 | 0 |
| Control of electric motors and power converters: motion equations; speed, position, current and flux control; speed, acceleration, load torque and flux observers; DC/DC, DC/AC converters | 6.0 | 0.0 | 0.0 | 0 |
| Control of manipulators: motion equations, position and speed control, lumped control of flexible longitudinal and rotational oscillations, control of mobile robots | 3.0 | 0.0 | 0.0 | 0 |
| Motion equations: artificial potential field method for navigation and control, nonholonomic mobile robots | 3.0 | 0.0 | 0.0 | 0 |
| Total | 42 | 0 | 0 | 0 |
Grading Plan:
Letter Grade
Course Components:
Recitation
Lecture
Grade Roster Component:
Lecture
Credit by Exam (EM):
No
Grades Breakdown:
| Aspect | Percent |
|---|---|
| Homework | 30% |
| Midterm Exam | 30% |
| Final Exam | 40% |
Representative Textbooks and Other Course Materials:
| Title | Author | Year |
|---|---|---|
| Sliding Modes in Control in Electromechanical Systems | V. Utkin, Yu. Guldner, and J. Shi, |
ABET-CAC Criterion 3 Outcomes:
(N/A)
ABET-ETAC Criterion 3 Outcomes:
(N/A)
ABET-EAC Criterion 3 Outcomes:
(N/A)
Embedded Literacies Info:
Attachments:
(N/A)
Additional Notes or Comments:
(N/A)
Basic Course Overview:
ECE_7859_basic.pdf
(10.9 KB)