A discrete-time sliding mode scheme with constrained inputs

C Edwards; G Herrmann; B Hredzak; V Venkataramanan; SK Spurgeon

doi:10.1109/CDC.2007.4434335

A discrete-time sliding mode scheme with constrained inputs

C Edwards, G Herrmann, B Hredzak, V Venkataramanan, SK Spurgeon

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

8 Citations (Scopus)

Abstract

A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.

Translated title of the contribution	A discrete-time sliding mode scheme with constrained inputs
Original language	English
Title of host publication	46th IEEE Conference on Decision and Control, New Orleans, USA
Pages	3023 - 3028
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2007.4434335
Publication status	Published - Dec 2007

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Conference Organiser: IEEE

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10.1109/CDC.2007.4434335

http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=4434335&isnumber=4434000&punumber=4433999&k2dockey=4434335@ieeecnfs&query=%28+herrmann++g.%3Cin%3Eau%29&pos=19&access=no

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title = "A discrete-time sliding mode scheme with constrained inputs",

abstract = "A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.",

author = "C Edwards and G Herrmann and B Hredzak and V Venkataramanan and SK Spurgeon",

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AU - Venkataramanan, V

AU - Spurgeon, SK

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PY - 2007/12

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AB - A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.

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DO - 10.1109/CDC.2007.4434335

M3 - Conference Contribution (Conference Proceeding)

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BT - 46th IEEE Conference on Decision and Control, New Orleans, USA

ER -

A discrete-time sliding mode scheme with constrained inputs

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