期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 16, 期 2, 页码 586-593出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-017-0291-z
关键词
Continuous sliding mode control; disturbance rejection; integral sliding surface; uncertainty estimation
资金
- FRC Tier 1, Faculty of Engineering, National University of Singapore, Singapore under WBS [R397000218112]
- BMRC, Agency for Science, Technology and Research (A*STAR), Singapore [15/12124019]
Sliding mode control (SMC) contains two phases, namely reaching and sliding phases, where the invariance of SMC is not guaranteed during the reaching phase. Integral SMC (ISMC) eliminates the reaching phase such that the invariance is guaranteed from the initial time instant. Several smoothing techniques have been applied to reduce chattering in the ISMC, including boundary layer, high-order SMC, low-pass filtering, etc. In this study, we discuss pros and cons of these techniques and suggest a simple and effective solution to attenuate chattering in the ISMC. In the suggested solution, the discontinuous part of the ISMC law is smoothed by a low-pass filter based on the equivalent control method. The resultant ISMC can not only avoid the trade-off among chattering, tracking accuracy, and robustness, but also act as a disturbance observer to exactly estimate and reject uncertainties. Numerical results have been provided to verify the arguments of this study.
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