Reaching Law Based Sliding Mode Control of Sampled Time Systems

Piotr Leśniewski and Andrzej Bartoszewicz
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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 7, 1-19

Abstract: In this paper, discrete time reaching law-based sliding mode control of continuous time systems is considered. In sliding mode control methods, usually the assumption of bounded absolute values of disturbances is used. However in many cases, the rate of change of the disturbance is also bounded. In the presented approach, this knowledge is used to improve the control precision and reduce the undesirable chattering. Another advantage of the proposed method is that the disturbance does not have to satisfy the matching conditions. In the paper two new reaching laws are analyzed, one of them ensures the switching quasi-sliding motion and the other the non-switching motion. For both of them, the robustness is assessed by calculating the quasi-sliding mode band width, as well as the greatest possible state error values. Specifically, the state errors are not considered only at the sampling instants, as is usual for discrete time systems, but the bounds on the continuous values “between” the sampling instants are also derived. Then, the proposed approaches are compared and analyzed with respect to energy expenditure of the control signal.

Keywords: sliding mode control; sampled time systems; reaching law approach (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)

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