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Set-valued discrete-time sliding-mode control of uncertain linear systems

Felix Miranda-Villatoro 1 Bernard Brogliato 2 Fernando Castaños 1
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann
Abstract : This paper focuses on the discrete-time sliding-mode control problem, that is, given an uncertain linear system under the effect of external matched perturbations, to design a set-valued control law that achieves the robust regulation of the plant and at the same time reduces substantially the chattering effect in both the input and the sliding variables. The cornerstone is the implicit Euler discretization technique together with a differential inclusion framework which allow us to make a suitable selection of the control values that will compensate for the disturbances. Numerical examples confirm the effectiveness of the proposed methodology.
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Submitted on : Monday, November 6, 2017 - 10:22:03 AM
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Felix Miranda-Villatoro, Bernard Brogliato, Fernando Castaños. Set-valued discrete-time sliding-mode control of uncertain linear systems. IFAC 2017 - The 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.9607-9612, ⟨10.1016/j.ifacol.2017.08.1697⟩. ⟨hal-01629185⟩



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