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sliding mode control question

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Ahmad
Ahmad 2014 年 2 月 11 日
コメント済み: Amine 2015 年 5 月 27 日
What knoledge do I need to know before studying sliding mode control

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Amine
Amine 2015 年 5 月 27 日
Hello! I am working on SM Controller too, and I am lost!? How to choose the sliding surface, Lyapunov condition … Can you help me about this? Thanks!

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回答 (3 件)

Walter Roberson
Walter Roberson 2014 年 2 月 11 日
You should review the uicontrol and uicontrol properties pages. In particular, you need to look at Value, Callback, Min, Max, and SliderStep properties. I found SliderStep the easiest to get wrong.
One bit that is not documented there is that if you drag a slider control, then you are likely to end up triggering Callback a number of times, corresponding to each fraction of a second pause in your movement. Therefor if your Callback is "expensive", you may wish to put in some kind of check to ensure the user has "stopped" before you do something graphically expensive. one of the ways to do that is to not have the callback start the action, and instead have the callback reset a timer object with a small delay. If the user keeps moving, the timer object will keep getting reset. Eventually the user will pause long enough for the timer action to kick in; have the timer callback do the "expensive" action.

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David Sanchez
David Sanchez 2014 年 2 月 11 日
Being Sliding mode control a non-linear control technique, you'd better start by studying as much classic control as possible (PID control). That will give you a good perspective of basic concepts. There's lots of good references to start with. You should have a good grasp of concepts such as controllability and observability. You also need some understanding of Lie Algebra and systems of differential equations. On the other hand, sliding mode control is a beautiful idea which will move you to another level. It could be a bit cumbersome at first, but very rewarding once you get the concept. I would recommend you to start reading the wikipedia article about it, then move to books for a move detailed description. My "guru" on the field is Sarah K. Spurgeon, any of her articles or books on the subject will be very educative.

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Walter Roberson
Walter Roberson 2014 年 2 月 11 日
Wow, a very very different interpretation of the question than I had!

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Stefan
Stefan 2014 年 2 月 11 日
I full agree with David. SMC is a part of control theory, so IMHO it is important to have a background. PID concept is simple, but necessary. PID can be also use as a benchmark for more advanced control strategies.

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