Discrete-Time Sliding Mode Control on a Flexible Truss Structure

2005 ◽  
Vol 127 (3) ◽  
pp. 292-295
Author(s):  
Wu-Chung Su ◽  
Sergey V. Drakunov ◽  
U¨mit O¨zgu¨ner ◽  
Keith Redmill
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Experiment ◽  
Sliding Mode ◽  
Sampling Period ◽  
Observer Design ◽  
Sampled Data ◽  
Mode Control ◽  
Sliding Motion ◽  
Structure Vibration

Implementation of discrete-time sliding mode control on a sampled-data system leads to sliding motion in an OT2 boundary layer of the discontinuity surface, where T is the sampling period. A truss panel structure vibration control experiment is conducted to demonstrate the effectiveness of the proposed method. This paper utilizes a truncated model to characterize the models of interest and treats all the high frequency modes as disturbances. The experiment includes system identification, state observer design, and discrete-time sliding 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 Reaching Law Based Sliding Mode Control of Sampled Time Systems

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1882
Author(s):  
Piotr Leśniewski ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Rate Of Change ◽  
Reaching Law ◽  
Mode Control ◽  
Sliding Motion ◽  
Control Precision ◽  
Continuous Time Systems ◽  
Time Systems

In this paper, discrete time reaching law-based sliding mode control of continuous time systems is considered. In sliding mode control methods, usually the assumption of bounded absolute values of disturbances is used. However in many cases, the rate of change of the disturbance is also bounded. In the presented approach, this knowledge is used to improve the control precision and reduce the undesirable chattering. Another advantage of the proposed method is that the disturbance does not have to satisfy the matching conditions. In the paper two new reaching laws are analyzed, one of them ensures the switching quasi-sliding motion and the other the non-switching motion. For both of them, the robustness is assessed by calculating the quasi-sliding mode band width, as well as the greatest possible state error values. Specifically, the state errors are not considered only at the sampling instants, as is usual for discrete time systems, but the bounds on the continuous values “between” the sampling instants are also derived. Then, the proposed approaches are compared and analyzed with respect to energy expenditure of the control signal.

scholarly journals A Reference Trajectory Based Discrete Time Sliding Mode Control Strategy

2019 ◽  
Vol 29 (3) ◽  
pp. 517-525 ◽  
Author(s):  
Andrzej Bartoszewicz ◽  
Katarzyna Adamiak
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Strategy ◽  
Control Method ◽  
Sliding Mode ◽  
Reference Trajectory ◽  
State Variables ◽  
Reaching Law ◽  
Mode Control ◽  
Sliding Motion

Abstract This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the application of the desired trajectory based reaching law results in a significant reduction in the quasi-sliding mode band width and errors of all state variables. Therefore, in comparison with Gao’s control method, the system’s robustness is increased. The paper also presents an additional modification of the reaching law, which guarantees a further reduction in the quasi-sliding mode band in the case of slowly varying disturbances. The results are confirmed with a simulation example.

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
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