Upgrading a linear controller to a sliding ...
Document type :
Article dans une revue scientifique
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]
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 >
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 :
Collections :
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