On Discretization Methods for Indirect Adaptive Sliding Mode Control

Christina Hettiger; Lars Watermann; Kiran Kumari; Lukas Eisenzopf; Florian Weissenberger; Martin Horn; Stefan Koch; Johann Reger; Markus Reichhartinger

doi:10.1109/CDC51059.2022.9993161

On Discretization Methods for Indirect Adaptive Sliding Mode Control

Christina Hettiger, Lars Watermann, Kiran Kumari, Lukas Eisenzopf, Florian Weissenberger, Martin Horn, Stefan Koch, Johann Reger, Markus Reichhartinger

Institut für Regelungs- und Automatisierungstechnik (4430)

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Abstract

In this paper, discrete-time versions of the first-order indirect adaptive sliding mode control (SMC) algorithm are developed and analyzed. In particular, a scalar linear system with parametric uncertainty linear in the state and with bounded input disturbance is considered. The discretization of continuous-time first-order indirect adaptive SMC algorithm may not preserve continuous-time properties like asymptotic stability of the origin. In order to ensure boundedness, knowledge about where the actual parameter may be located is used in this work. Then, for each proposed discretization scheme, conditions on the sampling time are derived that guarantee convergence into a bounded set. The theoretical results are illustrated with simulation examples and the proposed discretization schemes are compared with regard to the condition on sampling time and precision

Originalsprache	englisch
Titel	2022 IEEE 61st Conference on Decision and Control, CDC 2022
Seiten	4930-4936
Seitenumfang	7
ISBN (elektronisch)	9781665467612
DOIs	https://doi.org/10.1109/CDC51059.2022.9993161
Publikationsstatus	Veröffentlicht - Jan. 2023
Veranstaltung	2022 61th IEEE Conference on Decision and Control: CDC 2022 - Cancún, Mexico Dauer: 6 Dez. 2022 → 9 Dez. 2022 Konferenznummer: 61 https://cdc2022.ieeecss.org/

Publikationsreihe

Name	Proceedings of the IEEE Conference on Decision and Control
Band	2022-December
ISSN (Print)	0743-1546
ISSN (elektronisch)	2576-2370

Konferenz

Konferenz	2022 61th IEEE Conference on Decision and Control
Kurztitel	CDC 2022
Land/Gebiet	Mexico
Ort	Cancún
Zeitraum	6/12/22 → 9/12/22
Internetadresse	https://cdc2022.ieeecss.org/

ASJC Scopus subject areas

Steuerung und Optimierung
Steuerungs- und Systemtechnik
Modellierung und Simulation

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10.1109/CDC51059.2022.9993161

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Hettiger, C., Watermann, L., Kumari, K., Eisenzopf, L., Weissenberger, F., Horn, M., Koch, S., Reger, J., & Reichhartinger, M. (2023). On Discretization Methods for Indirect Adaptive Sliding Mode Control. in 2022 IEEE 61st Conference on Decision and Control, CDC 2022 (S. 4930-4936). (Proceedings of the IEEE Conference on Decision and Control; Band 2022-December). https://doi.org/10.1109/CDC51059.2022.9993161

On Discretization Methods for Indirect Adaptive Sliding Mode Control. / Hettiger, Christina; Watermann, Lars; Kumari, Kiran et al.
2022 IEEE 61st Conference on Decision and Control, CDC 2022. 2023. S. 4930-4936 (Proceedings of the IEEE Conference on Decision and Control; Band 2022-December).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Hettiger, C, Watermann, L, Kumari, K, Eisenzopf, L, Weissenberger, F, Horn, M , Koch, S, Reger, J & Reichhartinger, M 2023, On Discretization Methods for Indirect Adaptive Sliding Mode Control. in 2022 IEEE 61st Conference on Decision and Control, CDC 2022. Proceedings of the IEEE Conference on Decision and Control, Bd. 2022-December, S. 4930-4936, 2022 61th IEEE Conference on Decision and Control, Cancún, Mexico, 6/12/22. https://doi.org/10.1109/CDC51059.2022.9993161

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title = "On Discretization Methods for Indirect Adaptive Sliding Mode Control",

abstract = "In this paper, discrete-time versions of the first-order indirect adaptive sliding mode control (SMC) algorithm are developed and analyzed. In particular, a scalar linear system with parametric uncertainty linear in the state and with bounded input disturbance is considered. The discretization of continuous-time first-order indirect adaptive SMC algorithm may not preserve continuous-time properties like asymptotic stability of the origin. In order to ensure boundedness, knowledge about where the actual parameter may be located is used in this work. Then, for each proposed discretization scheme, conditions on the sampling time are derived that guarantee convergence into a bounded set. The theoretical results are illustrated with simulation examples and the proposed discretization schemes are compared with regard to the condition on sampling time and precision",

author = "Christina Hettiger and Lars Watermann and Kiran Kumari and Lukas Eisenzopf and Florian Weissenberger and Martin Horn and Stefan Koch and Johann Reger and Markus Reichhartinger",

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doi = "10.1109/CDC51059.2022.9993161",

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AU - Hettiger, Christina

AU - Watermann, Lars

AU - Kumari, Kiran

AU - Eisenzopf, Lukas

AU - Weissenberger, Florian

AU - Horn, Martin

AU - Koch, Stefan

AU - Reger, Johann

AU - Reichhartinger, Markus

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N2 - In this paper, discrete-time versions of the first-order indirect adaptive sliding mode control (SMC) algorithm are developed and analyzed. In particular, a scalar linear system with parametric uncertainty linear in the state and with bounded input disturbance is considered. The discretization of continuous-time first-order indirect adaptive SMC algorithm may not preserve continuous-time properties like asymptotic stability of the origin. In order to ensure boundedness, knowledge about where the actual parameter may be located is used in this work. Then, for each proposed discretization scheme, conditions on the sampling time are derived that guarantee convergence into a bounded set. The theoretical results are illustrated with simulation examples and the proposed discretization schemes are compared with regard to the condition on sampling time and precision

AB - In this paper, discrete-time versions of the first-order indirect adaptive sliding mode control (SMC) algorithm are developed and analyzed. In particular, a scalar linear system with parametric uncertainty linear in the state and with bounded input disturbance is considered. The discretization of continuous-time first-order indirect adaptive SMC algorithm may not preserve continuous-time properties like asymptotic stability of the origin. In order to ensure boundedness, knowledge about where the actual parameter may be located is used in this work. Then, for each proposed discretization scheme, conditions on the sampling time are derived that guarantee convergence into a bounded set. The theoretical results are illustrated with simulation examples and the proposed discretization schemes are compared with regard to the condition on sampling time and precision

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On Discretization Methods for Indirect Adaptive Sliding Mode Control

Abstract

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