Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

2021 ◽  
Vol 19 (12) ◽  
pp. 3862-3868
Author(s):  
Chao Liu ◽  
Yangmin Li ◽  
Sukun Tian ◽  
Haifeng Ma
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Mode Control ◽  
Trajectory Generator

scholarly journals A Reference Trajectory Based Discrete Time Sliding Mode Control Strategy

2019 ◽  
Vol 29 (3) ◽  
pp. 517-525 ◽  
Author(s):  
Andrzej Bartoszewicz ◽  
Katarzyna Adamiak
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Strategy ◽  
Control Method ◽  
Sliding Mode ◽  
Reference Trajectory ◽  
State Variables ◽  
Reaching Law ◽  
Mode Control ◽  
Sliding Motion

Abstract This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the application of the desired trajectory based reaching law results in a significant reduction in the quasi-sliding mode band width and errors of all state variables. Therefore, in comparison with Gao’s control method, the system’s robustness is increased. The paper also presents an additional modification of the reaching law, which guarantees a further reduction in the quasi-sliding mode band in the case of slowly varying disturbances. The results are confirmed with a simulation example.

scholarly journals Reference Trajectory Based Quasi-Sliding Mode with Event-Triggered Control

Energies ◽  
2021 ◽  
Vol 14 (21) ◽  
pp. 7236
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Reference Trajectory ◽  
Mode Control ◽  
Discrete Time Systems ◽  
Time Systems ◽  
The Impact ◽  
Event Triggered

The study presents a novel event-triggered quasi-sliding mode control algorithm for linear discrete time systems. The problem is divided into two main parts. Firstly, the sliding mode control of perturbed discrete time systems is considered. In order to limit the impact of external disturbances to one sampling step only, a reference trajectory-based control law is introduced. The proposed control method drives the system’s representative point to an a priori designed reference position in each control step, thus minimizing the influence of disturbance and improving the robustness. Moreover, the reference trajectory is generated according to a novel reaching law, which ensures the nonswitching movement within the quasi-sliding mode band. In the latter part of the study, the proposed control strategy is supplemented with an event-triggering algorithm. In the modified strategy the control signal is only updated when a certain triggering condition occurs. Therefore, the need for communication between system elements is reduced. As follows, the delays in the digital control process may be reduced as well, without compromising the system’s robustness.

A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law

2014 ◽  
Vol 39 (9) ◽  
pp. 1552-1557 ◽  
Author(s):  
Xi LIU ◽  
Xiu-Xia SUN ◽  
Wen-Han DONG ◽  
Peng-Song YANG
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Mode Control

Design of funnel function-based discrete-time sliding mode control

2020 ◽  
Vol 14 (16) ◽  
pp. 2413-2418
Author(s):  
Haifeng Ma ◽  
Yangmin Li ◽  
Zhenhua Xiong
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Mode Control

scholarly journals Zero-Width Quasi-Sliding Mode Band in the Presence of Non-Matched Uncertainties

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3011
Author(s):  
Paweł Latosiński ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Control Strategies ◽  
Relative Degree ◽  
Band Width ◽  
Representative Point ◽  
Mode Control ◽  
Sliding Motion ◽  
Selection Of

Sliding mode control strategies are well known for ensuring robustness of the system with respect to disturbance and model uncertainties. For continuous-time plants, they achieve this property by confining the system state to a particular hyperplane in the state space. Contrary to this, discrete-time sliding mode control (DSMC) strategies only drive the system representative point to a certain vicinity of that hyperplane. In established literature on DSMC, the width of this vicinity has always been strictly greater than zero in the presence of uncertainties. Thus, ideal sliding motion was considered impossible for discrete-time systems. In this paper, a new approach to DSMC design is presented with the aim of driving the system representative point exactly onto the sliding hyperplane even in the presence of uncertainties. As a result, the quasi-sliding mode band width is effectively reduced to zero and ideal discrete-time sliding motion is ensured. This is achieved with the proper selection of the sliding hyperplane, using the unique properties of relative degree two sliding variables. It is further demonstrated that, even in cases where selection of a relative degree two sliding variable is impossible, one can use the proposed technique to significantly reduce the quasi-sliding mode band width.

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