Sliding mode control of the third order system with state constraints

• Autorzy: Bartoszewicz A. , Nowacka A.
• Języki publikacji: EN

Abstrakty

EN

In this paper, a new sliding mode control algorithm for the third order, nonlinear system subject to velocity and acceleration constraints is considered. The algorithm guarantees fast transient behaviour, zero steady state error and insensitivity of the system with respect to matched model uncertainty and external disturbance from the very beginning of the control process. For that purpose, the algorithm employs a time varying switching plane selected in such a way that at the initial time the representative point of the system belongs to the plane. Afterwards, the plane moves in a finite time towards the origin of the coordinate frame and then remains fixed. A proper choice of the plane parameters ensures non-oscillatory system response and the minimisation of the integral of the absolute value of the system position error.

Słowa kluczowe

EN

sliding mode control; nonlinear control system; third order system; minimisation; state constraint; velocity constraint; acceleration constraint

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2004
• Tom: Vol. 30, no 2
• Strony: 35--44
• Opis fizyczny: Bibliogr. 10 poz., wykr.

Twórcy

autor

Bartoszewicz A.

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

autor

Nowacka A.

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

Bibliografia

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