Novel Power-Rate Reaching Law for Quasi-Sliding Mode Control

Katarzyna Adamiak and Andrzej Bartoszewicz
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Katarzyna Adamiak: Institute of Automatic Control, Lodz University of Technology, 18 Bohdana Stefanowskiego St., 90-537 Lodz, Poland
Andrzej Bartoszewicz: Institute of Automatic Control, Lodz University of Technology, 18 Bohdana Stefanowskiego St., 90-537 Lodz, Poland

Energies, 2022, vol. 15, issue 15, 1-14

Abstract: This study elaborates on the quasi-sliding mode control design for discrete time dynamical systems subject to matched external disturbances and modeling uncertainties. In order to provide finite time convergence to the sliding surface and at the same time restrict the control effort, we propose a novel power-rate reaching law utilizing a hyperbolic tangent function. The construction of the reaching law ensures that when the distance between the representative point of the system and the sliding surface is significant then the convergence pace is limited, which results in a reduced control effort. However, as the representative point of the system approaches the sliding surface, the convergence pace increases. Moreover, the study adopts a non-switching-type definition of the sliding motion, which eliminates undesirable chattering effects in the sliding phase. In order to reduce the impact of external disturbances on the system, the model following approach is taken, which allows for the rejection of all but the last disturbance value.

Keywords: control design; discrete time systems; reaching law approach; reference model; sliding mode control; trajectory generator (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: 2022
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