Programs for Sliding Mode Control MATLAB Simulation-Submit.zip

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 3, sys=mdlOutputs(t,x,u); case {2,4,9} sys=[]; otherwise error(['Unhandled flag = ',num2str(flag)]); end function [sys,x0,str,ts]=mdlInitializeSizes global node c b Fai node=5; c=0.1*[-1 -0.5 0 0.5 1; -1 -0.5 0 0.5 1; -1 -0.5 0 0.5 1; -1 -0.5 0 0.5 1; -1 -0.5 0 0.5 1]; b=0.50; Fai=50*eye(2); sizes = simsizes; sizes.NumContStates = 1; sizes.NumDiscStates = 0; sizes.NumOutputs = 2; sizes.NumInputs = 10; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0 = [0]; str = []; ts = []; function sys=mdlDerivatives(t,x,u) global node c b Fai qd1=u(1); d_qd1=u(2); dd_qd1=u(3); qd2=u(4); d_qd2=u(5); dd_qd2=u(6); q1=u(7); d_q1=u(8); q2=u(9); d_q2=u(10); e1=qd1-q1; e2=qd2-q2; de1=d_qd1-d_q1; de2=d_qd2-d_q2; e=[e1;e2]; de=[de1;de2]; r=de+Fai*e; qd=[qd1;qd2]; dqd=[d_qd1;d_qd2]; ddqd=[dd_qd1;dd_qd2]; z1=[e(1);de(1);qd(1);dqd(1);ddqd(1)]; z2=[e(2);de(2);qd(2);dqd(2);ddqd(2)]; h1=zeros(7,1); h2=zeros(7,1); for j=1:1:node h1(j)=exp(-norm(z1-c(:,j))^2/(b*b)); h2(j)=exp(-norm(z2-c(:,j))^2/(b*b)); end gama=500; sumi=(r(1))^2*norm(h1)^2+(r(2))^2*norm(h2)^2; sys(1)=gama/2*sumi; function sys=mdlOutputs(t,x,u) global node c b Fai qd1=u(1); d_qd1=u(2); dd_qd1=u(3); qd2=u(4); d_qd2=u(5); dd_qd2=u(6); q1=u(7); d_q1=u(8); q2=u(9); d_q2=u(10); q=[q1;q2]; e1=qd1-q1; e2=qd2-q2; de1=d_qd1-d_q1; de2=d_qd2-d_q2; e=[e1;e2]; de=[de1;de2]; r=de+Fai*e; qd=[qd1;qd2]; dqd=[d_qd1;d_qd2]; ddqd=[dd_qd1;dd_qd2]; faip=x(1); z1=[e(1);de(1);qd(1);dqd(1);ddqd(1)]; z2=[e(2);de(2);qd(2);dqd(2);ddqd(2)]; h1=zeros(7,1); h2=zeros(7,1); for j=1:1:node h1(j)=exp(-norm(z1-c(:,j))^2/(b*b)); h2(j)=exp(-norm(z2-c(:,j))^2/(b*b)); end p=[2.9 0.76 0.87 3.04 0.87]; D=[p(1)+p(2)+2*p(3)*cos(q2) p(2)+p(3)*cos(q2); p(2)+p(3)*cos(q2) p(2)]; H=[h1;h2]; Kv=200*eye(2); epN=0.50; bd=0.2; M=2; if M==1 sat=sign(r); elseif M==2 %Saturated function fai0=0.01; if norm(r)<=fai0 sat=r/fai0; else sat=sign(r); end end v=-(epN+bd)*sat; Kw=Kv*r; Dr=D*r; %tol=(r.*fai)/2*(H.*H)+Kv*r-v; tol(1)=faip/2*r(1)*norm(h1)^2+Kw(1)-v(1); tol(2)=faip/2*r(2)*norm(h2)^2+Kw(2)-v(2); sys(1)=tol(1); sys(2)=tol(2);