Upgrading linear to sliding mode feedback algorithm for a digital controller

Perozzi, Gabriele; Polyakov, Andrey; Miranda-Villatoro, Felix; Brogliato, Bernard

Type de document :

Communication dans un congrès avec actes

DOI :

10.1109/CDC45484.2021.9683397

Titre :

Upgrading linear to sliding mode feedback algorithm for a digital controller

Auteur(s) :

Perozzi, Gabriele [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Polyakov, Andrey [Auteur]

Finite-time control and estimation for distributed systems [VALSE]
Miranda-Villatoro, Felix [Auteur]
Modélisation, simulation et commande des systèmes dynamiques non lisses [TRIPOP]
Brogliato, Bernard [Auteur]
Modélisation, simulation et commande des systèmes dynamiques non lisses [TRIPOP]

Titre de la manifestation scientifique :

CDSC 2021 : 60th IEEE Conference on Decision and Control

Ville :

Austin

Pays :

Etats-Unis d'Amérique

Date de début de la manifestation scientifique :

2021-12-14

Éditeur :

IEEE

Discipline(s) HAL :

Informatique [cs]/Automatique

Résumé en anglais : [en]

The goal of this paper is to investigate if it is possible to upgrade a given linear controller to a sliding mode one with an improvement of the control performance. Starting from a given linear controller, a design procedure ...
Lire la suite >The goal of this paper is to investigate if it is possible to upgrade a given linear controller to a sliding mode one with an improvement of the control performance. Starting from a given linear controller, a design procedure for a sliding mode control having better performance than the linear one, is proposed. If the system has disturbances, which is always the case in experiments, the upgraded sliding mode control brings also a better robustness with respect to the given linear robust controller. The main idea is to divide the state-space into two areas, introducing a design parameter which separates the area of the linear control from the area of the sliding mode control. Some issues related to the chattering reduction are discussed. The control scheme's efficiency is demonstrated experimentally on a rotary inverted pendulum. The experimental results demonstrate the effectiveness of the obtained controls, and show an improvement with respect to the given linear proportional control.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Projet ANR :

Différentiateurs et commandes homogènes par modes glissants multivalués en temps discret: l'approche implicite

Collections :