On Chattering-Free Sliding-Mode Control

被引：12

作者：

Dorel , Lela ^{[1
]}

Levant, Arie ^{[1
]}

机构：

[1] Tel Aviv Univ, Sch Math Sci, IL-69978 Tel Aviv, Israel

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

D O I：

10.1109/CDC.2008.4739126

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

High-Order Sliding Mode (HOSM) control was originally proposed to overcome the dangerous chattering effect. The idea is to treat the time derivative of the actual control as a new control artificially raising the relative degree of the sliding variable. The resulting HOSM features finite-time stability, ultimate accuracy of sliding mode, and smooth control. Unfortunately, due to the interaction between the control and its derivative, the convergence to the HOSM is only ensured, if the initial values of the successive sliding-variable derivatives are small enough. It is proved in the paper that under mild conditions that restriction is removed. Output-feedback controllers are constructed. Computer simulation confirms the applicability of the approach.

引用

页码：2196 / 2201

页数：6

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