A discrete-time sliding mode scheme with constrained inputs

C Edwards; G Herrmann; B Hredzak; V Venkataramanan; SK Spurgeon

doi:10.1109/CDC.2007.4434335

A discrete-time sliding mode scheme with constrained inputs

C Edwards, G Herrmann, B Hredzak, V Venkataramanan, SK Spurgeon

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.

Original language	English
Title of host publication	2007 46th IEEE Conference on Decision and Control
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2007.4434335
Publication status	Published - Dec 2007

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10.1109/CDC.2007.4434335

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title = "A discrete-time sliding mode scheme with constrained inputs",

abstract = "A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.",

author = "C Edwards and G Herrmann and B Hredzak and V Venkataramanan and SK Spurgeon",

note = "Conference Organiser: IEEE",

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AU - Herrmann, G

AU - Hredzak, B

AU - Venkataramanan, V

AU - Spurgeon, SK

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Y1 - 2007/12

N2 - A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.

AB - A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.

U2 - 10.1109/CDC.2007.4434335

DO - 10.1109/CDC.2007.4434335

M3 - Conference contribution

SN - 9781424414987

BT - 2007 46th IEEE Conference on Decision and Control

ER -

A discrete-time sliding mode scheme with constrained inputs

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