Title :

Globally Stable Implicit Euler Time-Discretization of a Nonlinear Single-Input Sliding-Mode Control System

Author(s) :

Brogliato, Bernard [Auteur]
Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems [BIPOP]
Polyakov, Andrey [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A]

Conference title :

54th Conference on Decision and Control 2015

City :

Osaka

Country :

Japon

Start date of the conference :

2015-12-15

Publisher :

IEEE

Publication date :

2016-12

English keyword(s) :

hyper-exponential convergence
sliding mode
Implicit Euler discretization
fixed-time stability

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [en]

In this note we study the effect of an implicit Euler time-discretization method on the stability of the discretization of a globally fixed-time stable, scalar differential inclusion representing a simple nonlinear system ...
Show more >In this note we study the effect of an implicit Euler time-discretization method on the stability of the discretization of a globally fixed-time stable, scalar differential inclusion representing a simple nonlinear system with a set-valued signum controller. The controller nonlinearity is a cubic term and it is shown that the fully-implicit method preserves the global Lyapunov stability property of the continuous-time system, contrarily the explicit discretization which does not. It allows to obtain finite-time convergence to the origin when the plant is undisturbed, while the cubic term provides the hyper-exponential convergence rate.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

ANR Project :

Vers une commande par modes glissants performante: réduction du chattering, rejet de perturbations, et boite à outils.

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL