Discrete implementation of sliding mode controllers satisfying accuracy level specifications

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Exploiting a particular system setting, this paper discusses approaches for the design of sliding mode control laws based on a sampling time dependent specified accuracy. It is well-known that this accuracy is ensured by the implementation of a control law of appropriate sliding order. However, it turns out, that in a discrete time framework this also may be achieved by a sliding mode controller of lower order enhanced by a disturbance estimation scheme. In this context the combination of a 2nd-order sliding mode control with a first-order disturbance estimator is analyzed in particular. The achieved performance is evaluated in a numerical example as well as in a practical experiment.
Original languageEnglish
Title of host publication14th International Workshop on Variable Structure Systems (VSS)
Pages154
Number of pages159
DOIs
Publication statusPublished - Jul 2016
Event14th International Workshop on Variable Structure Systems (VSS) - Nanjing, China
Duration: 1 Jun 20164 Jun 2016

Conference

Conference14th International Workshop on Variable Structure Systems (VSS)
CountryChina
CityNanjing
Period1/06/164/06/16

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