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Delayed Sliding Mode Control

Denis Efimov 1 Andrey Polyakov 1 Leonid Fridman 2 Wilfrid Perruquetti 1 Jean-Pierre Richard 1 
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 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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Submitted on : Thursday, October 8, 2015 - 6:25:20 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM
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Denis Efimov, Andrey Polyakov, Leonid Fridman, Wilfrid Perruquetti, Jean-Pierre Richard. Delayed Sliding Mode Control. Automatica, 2016, 64, pp.37-43. ⟨10.1016/j.automatica.2015.10.055⟩. ⟨hal-01213703⟩



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