Delayed Sliding Mode Control

Denis Efimov 1, 2 Andrey Polyakov 2, 1 Leonid Fridman 3 Wilfrid Perruquetti 1, 2, 4 Jean-Pierre Richard 1, 2, 4
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
3 Departamento de Ingenieria de Control y Robotica
Departamento de Ingenieria de Control y Robotica
Abstract : A new sliding mode control approach is introduced in this work with the dedicated mathematical tools. A time-delay modification/approximation of sign function is proposed, and it is shown that by substituting this new "sign " realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like rejection of matched disturbances and hyper-exponential convergence), while the chattering is reduced. These results are illustrated and confirmed by numerical simulations for the first order sliding mode control and the super-twisting algorithm.
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Denis Efimov, Andrey Polyakov, Leonid Fridman, Wilfrid Perruquetti, Jean-Pierre Richard. Delayed Sliding Mode Control. Automatica, Elsevier, 2015. ⟨hal-01213703⟩

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