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Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers

Olivier Huber 1, * Vincent Acary 1, * Bernard Brogliato 1, *
* Corresponding author
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
Abstract : Different time-discretization methods for equivalent-control based sliding mode control (ECB-SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the discretization of the equivalent part of the control input. Results from simulations using the various discretized SMC schemes are shown, with and without perturbations. They illustrate the different behaviours that can be observed. Stability results for the proposed scheme are derived.
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Submitted on : Monday, October 21, 2013 - 2:15:33 PM
Last modification on : Friday, July 17, 2020 - 11:38:58 AM
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  • HAL Id : hal-00875209, version 1
  • ARXIV : 1310.6004

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Olivier Huber, Vincent Acary, Bernard Brogliato. Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers. [Research Report] RR-8383, INRIA. 2013, pp.23. ⟨hal-00875209⟩

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