Delayed sliding mode control

被引：33
|
作者：
Efimov, Denis [1 ,2 ,3 ]
Polyakov, Andrey [1 ,2 ,3 ]
Fridman, Leonid [4 ]
Perruquetti, Wilfrid [1 ,2 ]
Richard, Jean-Pierre [1 ,2 ]
机构：
[1] Inria, NonA Team, Parc Sci Haute Borne,40 Ave Halley, F-59650 Villeneuve Dascq, France
[2] Ecole Cent Lille, CNRS, CRIStAL, UMR 9189, BP 48,Cite Sci, F-59651 Villeneuve Dascq, France
[3] ITMO Univ, Dept Control Syst & Informat, 49 Kronverkskiy Ave, St Petersburg 197101, Russia
[4] 4430 Inst Regelungs & Automatisierungstech, Kopernikusgasse 24-2, A-8010 Graz, Austria
来源：
AUTOMATICA | 2016年 / 64卷
关键词：
Sliding mode; Time delay; Stability analysis; VARIABLE STRUCTURE CONTROL; FINITE-TIME STABILITY; SYSTEMS;
D O I：
10.1016/j.automatica.2015.10.055
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new sliding mode control approach is introduced in this work with the dedicated mathematical tools. A time-delay modification/approximation of sign function is proposed, and it is shown that by substituting this new "sign" realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like rejection of matched disturbances and hyper-exponential convergence, i.e. the rate of convergence to the origin is much faster than any exponential (Polyakov, Efimov, Perruquetti, & Richard, 2014)), while the chattering is reduced. These results are illustrated and confirmed by numerical simulations for the first order sliding mode control and the super-twisting algorithm. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：37 / 43
页数：7
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