Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints

Mateusz Pietrala, Piotr Leśniewski and Andrzej Bartoszewicz
Additional contact information
Mateusz Pietrala: Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland
Piotr Leśniewski: Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland
Andrzej Bartoszewicz: Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland

Energies, 2021, vol. 14, issue 10, 1-23

Abstract: In this paper, the design of the terminal continuous-time sliding mode controller is presented. The influence of the external disturbances is considered. The robustness for the whole regulation process is obtained by adapting the time-varying sliding line. The representative point converges to the demand state in finite time due to the selected shape of the nonlinear switching curve. Absolute values of control signal, system velocity and both of these quantities are bounded from above and considered as system constraints. In order to evaluate the dynamical performance of the system, the settling time is selected as a quality index and it is minimized. The approach presented in this paper is particularly suited for systems in which one state (or a set of states) is the derivative of the other state (or a set of states). This makes it applicable to a wide range of electromechanical systems, in which the states are the position and velocity of the mechanical parts.

Keywords: sliding mode control; time-varying sliding line; reaching phase elimination; robust control; finite time convergence; settling time minimization (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
https://www.mdpi.com/1996-1073/14/10/2887/pdf (application/pdf)
https://www.mdpi.com/1996-1073/14/10/2887/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:14:y:2021:i:10:p:2887-:d:556253

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().