Titre :

Digital implementation of sliding-mode control via the implicit method: A tutorial

Auteur(s) :

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

Titre de la revue :

International Journal of Robust and Nonlinear Control
Special Issue: Homogeneous Sliding‐Mode Control and Observation

Pagination :

3528-3586

Éditeur :

Wiley

Date de publication :

2021-06

ISSN :

1049-8923

Mot(s)-clé(s) en anglais :

sliding-mode
control
discrete-time
super-twisting
homogenous systems

Discipline(s) HAL :

Mathématiques [math]/Optimisation et contrôle [math.OC]
Sciences de l'ingénieur [physics]/Automatique / Robotique

Résumé en anglais : [en]

The objective of this article, is to provide a clear presentation of the discretization of continuous-time sliding-mode controllers, also known in the Automatic Control literature as the emulation method, when the implicit ...
Lire la suite >The objective of this article, is to provide a clear presentation of the discretization of continuous-time sliding-mode controllers, also known in the Automatic Control literature as the emulation method, when the implicit (backward) Euler scheme is used. First-order, second-order and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete-time implementation structure and on the algorithms which allow the designer to solve, at each time-step, the one-step generalized equations which are needed to compute the controllers. The article ends with some open issues.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 :

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

Source :

Harvested from HAL