Instructor:
Prof. Vadim Utkin
456 Dreese Laboratory
Phone: 292-6115
utkin@ece.osu.edu

Office Hours: TBA

Grading: Homework (4 total) 30%, Midterm 30%, Final Exam 40%

Relevant Text: Sliding Modes Control in Electromechanical Systems, V. Utkin, Taylor & Frencis, 1999.

Course Philosophy: The main goal of this course is to demonstrate the beneficial properties of sliding mode control. Sliding mode control makes system motion robust with respect to system parameter variations, unmodeled dynamics and external disturbances. In addition, this technique provides efficient control laws for linear and nonlinear plants. Another distinguishing feature is its order reduction capability, which enables simplification of design and system decoupling. With these advantages, sliding mode control is a promising area of study for both theoretical and application oriented problems.

There will be many examples to help students to grasp ideas. Several applications, including electric motors and robots, will be presented to demonstrate the usage of sliding mode control. Practical implementation issues will also be discussed.

Outline: Topics to be covered include

Sliding Mode Control
• Week 1: Introduction
  Examples of dynamic systems with sliding modes; Sliding modes in relay and variable structure systems
• Week 2: Mathematical Background
  Differential equations with discontinuous right-hand sides; Regularization methods; Equivalent control method; Sliding existence conditions
• Week 3: Design Methods
  Decomposition into regular form; Eigenvalue placement and mean square optimization in linear systems
• Week 4: Design Methods
  Control under uncertain conditions; Chattering problems
• Week 5: Discrete-time Sliding Mode Control
  Definitions; Design methods; Control of linear systems
• Week 6: Control in Distributed Systems
  Motion equations; Distributed control; Modal control; Pointwise control

Control of Electric Motors

• Week 7: DC and Induction Motor Control
  Motion equations; Position, speed, current and flux control
• Week 8: DC and Induction Motor Control
  Observer design; Reduced order model based design

Control of Robotic Manipulators

• Week 9: Control of Manipulators
  Motion Equations; Position and speed control; Lumped control of flexible longitudinal and rotational oscillations

Control of Mobile Robotics

• Week 10: Mobile Robotic Control
  Motion equations; Artificial potential field method for navigation and control; Nonholonomic mobile robots

Prerequisite: A course in state space based control theory (EE 750 or equivalent), or permission of instructor. Any students who are interested but do not meet the course prerequisite are urged to meet briefly with the instructor to determine their level of readiness.