Title :

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

Author(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]

Journal title :

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

Pages :

3528-3586

Publisher :

Wiley

Publication date :

2021-06

ISSN :

1049-8923

English keyword(s) :

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

HAL domain(s) :

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

English abstract : [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 ...
Show more >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.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 :

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

Source :

Harvested from HAL