Continuous-time and discrete-time sliding mode control accomplished using a computer

2005 ◽  
Vol 152 (2) ◽  
pp. 220-228 ◽  
Author(s):  
J.P.F. Garcia ◽  
J.M.S. Ribeiro ◽  
E.S. Martins ◽  
J.J.F. Silva
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Continuous Time ◽  
Sliding Mode ◽  
Mode Control

scholarly journals Sliding Mode Control for Active Suspension System with Data Acquisition Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Uiliam Nelson L. T. Alves ◽  
José Paulo F. Garcia ◽  
Marcelo C. M. Teixeira ◽  
Saulo C. Garcia ◽  
Fernando B. Rodrigues
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Strategy ◽  
Continuous Time ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Active Suspension ◽  
Suspension System ◽  
Control Technique ◽  
Mode Control

This paper addresses the problem of control of an active suspension system accomplished using a computer. Delay in the states due to the acquisition and transmission of data from sensors to the controller is taken into account. The proposed control strategy uses state predictors along with sliding mode control technique. Two approaches are made: a continuous-time and a discrete-time control. The proposed designs, continuous-time and discrete-time, are applied to the active suspension module simulator from Quanser. Results from computer simulations and experimental tests are analyzed to show the effectiveness of the proposed control strategy.

Sliding-Mode Control of Large-Scale Fuzzy Interconnected Systems

2017 ◽  
pp. 176-194
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Continuous Time ◽  
Large Scale ◽  
Sliding Mode ◽  
Interconnected Systems ◽  
Mode Control ◽  
Continuous Time Systems ◽  
Time Systems ◽  
Design Result

This chapter will study the decentralized SMC for large-scale fuzzy interconnected systems. The design result on the decentralized sliding mode control of the continuous-time systems is derived in terms of LMIs. We also extend the result to discrete-time systems. Two simulation examples are provided to validate the advantage of the proposed methods.

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.

scholarly journals New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3811
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Time Varying ◽  
Sliding Surface ◽  
External Disturbances ◽  
Mode Control ◽  
Switching Type ◽  
Time Systems

This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering.

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