Upgrading a linear controller to a sliding mode one: Theory and experiments

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

Document type :

Article dans une revue scientifique

DOI :

10.1016/j.conengprac.2022.105107

Title :

Upgrading a linear controller to a sliding mode one: Theory and experiments

Author(s) :

Perozzi, Gabriele [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Finite-time control and estimation for distributed systems [VALSE]
Polyakov, Andrey [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
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]

Journal title :

Control Engineering Practice

Pages :

1-15

Publisher :

Elsevier

Publication date :

2022-06

ISSN :

0967-0661

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [en]

This article proposes a procedure for upgrading a linear proportional controller to a sliding mode one preventing a degradation of a control quality. Two nonlinear algorithms are studied in this context: Unit and Homogeneous ...
Show more >This article proposes a procedure for upgrading a linear proportional controller to a sliding mode one preventing a degradation of a control quality. Two nonlinear algorithms are studied in this context: Unit and Homogeneous Sliding Mode Controllers (SMCs). The parameters of the nonlinear controllers are defined using the gains of the (already well-tuned) linear controller. The main idea of this upgrading procedure is to split the state-space into two regions, the region of the linear control and the region of the nonlinear control. This is done via a suitable design parameter. The theoretical developments are validated experimentally on a rotary inverted pendulum. Comparisons between the already well-tuned linear controller and the proposed upgraded nonlinear controllers are presented. The experiments in a rotary inverted pendulum demonstrate that the upgraded controller significantly improves the control precision without degradation of the control signal.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

ANR Project :

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

Collections :