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NPTEL

Sliding Mode Control and Applications

NPTEL via Swayam

Overview

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ABOUT THE COURSE:This course introduces Sliding Mode Control and Applications, focusing on advanced control methods for systems under heavy uncertainty. It builds upon classical mathematical-control theory, which typically solves control problems asymptotically, by presenting techniques that provide exact solutions in finite or pre-determined time. The course covers key topics such as nonlinear control, finite- and fixed-time stability, sliding-mode control, and robust differentiation, validated through simulations in the presence of system disturbances and noisy measurements. Practical applications of Sliding Mode Control are explored in fields such as robotics, avionics, space flight, signal and image processing, and targeting and tracking problems. It complements foundational courses in nonlinear control and prepares students to design effective controllers for uncertain multi-input multi-output systems. Basic knowledge of ordinary differential equations, linear algebra, and calculus is sufficient for understanding the course.INTENDED AUDIENCE: The intended audience for the course on Sliding Mode Control and Applications includes a diverse range of learners and professionals.It is well-suited for undergraduate students from disciplines such as Electrical Engineering, Mechanical Engineering, Aerospace Engineering, and Robotics, who wish to gain foundational knowledge and practical experience in advanced control techniques. It also caters to postgraduate students and researchers specializing in areas like Control Systems, Power Electronics, Mechatronics, and Artificial Intelligence, enabling them to deepen their theoretical understanding and contribute to cutting-edge research.Faculty members and educators can benefit from the course by enhancing their expertise, staying updated with the latest developments, and effectively mentoring students in related subjects. For industry professionals and engineers in sectors such as automotive, aerospace, power systems, and robotics, the course provides the tools to apply Sliding Mode Control in real world scenarios, addressing challenges in robust and high-performance control.The course is also valuable for professionals in emerging fields, such as those working on machinelearning integration, cyber-physical systems, IoT, smart grids, and renewable energy applications, as it explores how Sliding Mode Control can be adapted for next generation technologies. Additionally, enthusiasts and self-learners can benefit from its modular structure and hands-on approach, allowing them to acquire skills for career advancement or entrepreneurial endeavors.By accommodating a broad audience, this course ensures relevance and impact across academic, research, and industrial domains.PREREQUISITES: If students have attended courses in Basic Control Systems or Linear Systems Theory, it will help them grasp advanced topics in Sliding Mode Control moreeffectively.INDUSTRY SUPPORT: The Sliding Mode Control and Applications course can be highly valued by industries that focus on control systems, automation, and related technologies. Below is a list of industries and companies that would recognize and value this online course:1. Automotive IndustryCompanies: Tesla, Bosch, Toyota, Ford, General Motors, HondaRelevance: Sliding Mode Control is used in electric vehicle (EV) control systems, advanced driver assistance systems (ADAS), and autonomous vehicle technologies for robust and fault-tolerant control.2. Aerospace and DefenseCompanies: Boeing, Airbus, Lockheed Martin, Northrop Grumman, Raytheon TechnologiesRelevance: SMC is applied in UAV control, spacecraft attitude control, and fault-tolerant systems in aerospace engineering.3. Robotics and AutomationCompanies: ABB, KUKA, FANUC, Universal Robots, iRobot, Boston DynamicsRelevance: Sliding Mode Control is crucial for motion control, robotics applications, and precision control of robotic arms and drones.4. Power Systems and Renewable EnergyCompanies: Siemens, GE Renewable Energy, Vestas, Schneider Electric, ABBRelevance: SMC is used in power electronics, renewable energy systems (solar, wind), energy storage systems, and grid control for optimal and fault-tolerant operation.5. Manufacturing and Industrial AutomationCompanies: Rockwell Automation, Honeywell, Mitsubishi Electric, Emerson Electric, SiemensRelevance: Sliding Mode Control aids in precise control of industrial processes, motor control, and automation systems for manufacturing plants.6. Telecommunications and IoTCompanies: Qualcomm, Ericsson, Huawei, Cisco, IntelRelevance: SMC plays a role in communication system stability, signal processing, and real-time control in IoT networks and systems.7. Research InstitutionsInstitutions: ISRO/DRDORelevance: Academic and research institutions focused on control systems, robotics, aerospace, and mechatronics recognize the value of advanced control techniques like SMC for research and development.8. Industrial Robotics and Automation SoftwareCompanies: Dassault Systèmes, Autodesk, Siemens PLM, PTCRelevance: These companies value knowledge of advanced control techniques like SMC for creating intelligent, autonomous robotic systems.9. Military and Defense ContractorsCompanies: General Dynamics, BAE Systems, Thales Group, Leonardo DRSRelevance: SMC is used in critical defense systems, autonomous weapon systems, and missile guidance and control

Syllabus

Week 1: Introduction First Part, Introduction Second Part, Perturbed System under PI Control Action, Tuning of PID and High Gain Controllers, ON-OFF Control Action
Week 2:Finite-time and Fixed-Time Stability, Application of ON OFF Control Action and Sliding Mode, Sliding Mode Control of DC Motor
Week 3:Semi-global Stabilization of Nonlinear System using SMC,Notions of Stabilization for a Nonlinear System, Sliding Mode Control Design Using Regular Form Transformation
Week 4:Multivariable Sliding Mode Control, Multivariable SMC in the Presence of Unmatched Uncertainty
Week 5:Integral Sliding Mode Control and Its compatibility with LQR, PID, MPC, Applications of Integral Sliding Mode in Robotics and Avionics
Week 6:Idea of Feedback Linearization, Input-Output Linearization, Higher Order Sliding Mode
Week 7:Twisting Algorithm, Super-Twisting Algorithm, Lyapunov Analysis of Super-Twisting Algorithm and Applications
Week 8:Continuous Integral Sliding Mode, Weighted Homogeneity and Finite Time Stability and Applications
Week 9:A Transition from Terminal to Homogeneous Higher-Order Sliding Mode and Its Applications, Adaptive Sliding Mode Control
Week 10:An Introduction to Observers, Sliding Mode Observers, Sliding Mode Differentiators and Applications
Week 11:Discrete Sliding Mode Control, Minimum Operator based Discrete-Time Twisting and Supertwisting, Data-Driven Sliding Mode
Week 12:Arbitrary Time Stability and Stabilization, Finite and Fixed Time Optimization based Sliding Mode Control Design and Applications

Taught by

Prof. Shyam Kamal

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