A reference trajectory based discrete time sliding mode control strategy

• Autorzy: Bartoszewicz Andrzej , Adamiak Katarzyna

Identyfikatory

DOI

10.2478/amcs-2019-0038

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

discrete time system; sliding mode control; reaching law; reference trajectory

PL

układ dyskretno-czasowy; sterowanie ślizgowe; trajektoria referencyjna

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2019
• Tom: Vol. 29, no. 3
• Strony: 517--525
• Opis fizyczny: Bibliogr. 40 poz., wykr.

Twórcy

autor

Bartoszewicz Andrzej

• Institute of Automatic Control, Łódź University of Technology, Stefanowskiego 18/22, 90-924 Łódź, Poland

autor

Adamiak Katarzyna

• Institute of Automatic Control, Łódź University of Technology, Stefanowskiego 18/22, 90-924 Łódź, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).