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Implicit discrete-time twisting controller without numerical chattering: analysis and experimental results
Abstract : In this paper, we present an implementation of the sliding mode twisting controller on an electropneumatic plant for a
tracking control problem. To this end, implicitly and explicitly discretized twisting controllers are considered. We discuss
their structure, properties and implementations, as well as the experimental results. The analysis of the performance
sustains the theoretical superiority of the implicitly discretized version, as shown in previous works. The main advantages
of the implicit method are better tracking performance and drastic reduction in the input and output chattering. This is
achieved without modifying the structure of the controller compared to its continuous-time version. The tracking error
cannot be used as the sliding variable: it has a relative degree 3 w.r.t. the control input. The tuning of the sliding surface
has well as some other parameters in the control loop was instrumental in achieving good performance. We detail the
selection procedure of those parameters and their influence on the closed-loop behaviour. Finally we also present some
results with an implicitly discretized EBC-SMC controller.
Cited literature [18 references]
https://hal.inria.fr/hal-01235899
Contributor : Olivier Huber <>
Submitted on : Monday, November 30, 2015 - 9:33:44 PM
Last modification on : Thursday, July 9, 2020 - 9:44:38 AM
Document(s) archivé(s) le : Saturday, April 29, 2017 - 2:38:30 AM
Contributor : Olivier Huber <>
Submitted on : Monday, November 30, 2015 - 9:33:44 PM
Last modification on : Thursday, July 9, 2020 - 9:44:38 AM
Document(s) archivé(s) le : Saturday, April 29, 2017 - 2:38:30 AM
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