TY - GEN
T1 - Explicit Euler Discretization of an Indirect Adaptive Sliding Mode Control
AU - Hettiger, Christina
AU - Kumari, Kiran
AU - Watermann, Lars
AU - Eisenzopf, Lukas
AU - Weissenberger, Florian
AU - Horn, Martin
AU - Koch, Stefan
AU - Reger, Johann
AU - Reichhartinger, Markus
PY - 2022
Y1 - 2022
N2 - In this paper, an explicit Euler discretization scheme is used to obtain a discrete-time version of the indirect adaptive sliding mode control for an uncertain scalar linear system with an unknown parameter. The unknown parameter is linear in the state, the input disturbance is assumed to be bounded. An improper discretization of indirect adaptive sliding mode algorithms may lead to unbounded parameter estimates, which then result in an unbounded state. We modify the algorithm by using a priori knowledge of the location of the unknown parameter such that boundedness of the trajectory can be guaranteed. This entails obtaining a stabilizing condition on the sampling interval and calculating the bound of the state trajectory. The proposed discretization is illustrated by simulation results of an academic scalar system.
AB - In this paper, an explicit Euler discretization scheme is used to obtain a discrete-time version of the indirect adaptive sliding mode control for an uncertain scalar linear system with an unknown parameter. The unknown parameter is linear in the state, the input disturbance is assumed to be bounded. An improper discretization of indirect adaptive sliding mode algorithms may lead to unbounded parameter estimates, which then result in an unbounded state. We modify the algorithm by using a priori knowledge of the location of the unknown parameter such that boundedness of the trajectory can be guaranteed. This entails obtaining a stabilizing condition on the sampling interval and calculating the bound of the state trajectory. The proposed discretization is illustrated by simulation results of an academic scalar system.
UR - http://www.scopus.com/inward/record.url?scp=85140337455&partnerID=8YFLogxK
U2 - 10.1109/VSS57184.2022.9902081
DO - 10.1109/VSS57184.2022.9902081
M3 - Conference paper
T3 - Proceedings of IEEE International Workshop on Variable Structure Systems
SP - 278
EP - 283
BT - 2022 16th International Workshop on Variable Structure Systems, VSS 2022
PB - Institute of Electrical and Electronics Engineers
T2 - 16th International Workshop on Variable Structure Systems and Sliding Mode Control
Y2 - 11 September 2022 through 14 September 2022
ER -