An itae optimal sliding mode controller for systems with control signal and velocity limitations

• Autorzy: Pietrala Mateusz , Leśniewski Piotr , Bartoszewicz Andrzej

Identyfikatory

DOI

10.2478/ama-2023-0026

• Języki publikacji: EN

Abstrakty

EN

In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.

Słowa kluczowe

EN

sliding mode control; optimal control; state constraints

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2023
• Tom: Vol. 17, no. 2
• Strony: 230--238
• Opis fizyczny: Bibliogr. 26 poz., wykr.

Twórcy

autor

Pietrala Mateusz

• Institute of Automatic Control, Łódź University of Technology, ul. Stefanowskiego 18., 90-537 Łódź, Poland

• https://orcid.org/0009-0008-6715-4967

autor

Leśniewski Piotr

• Institute of Automatic Control, Łódź University of Technology, ul. Stefanowskiego 18., 90-537 Łódź, Poland

• https://orcid.org/0000-0003-4131-6928

autor

Bartoszewicz Andrzej

• Institute of Automatic Control, Łódź University of Technology, ul. Stefanowskiego 18., 90-537 Łódź, Poland

• https://orcid.org/0000-0002-1271-8488

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).