Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law

Lars Watermann; Lukas Eisenzopf; Stefan Koch; Markus Reichhartinger; Martin Horn; Johann Reger

doi:10.1109/CDC45484.2021.9682922

Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law

Lars Watermann, Lukas Eisenzopf, Stefan Koch, Markus Reichhartinger, Martin Horn, Johann Reger

Institut für Regelungs- und Automatisierungstechnik (4430)

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Abstract

A discrete-time implementation of a continuous-time adaptive gain sliding mode control law for a system with matched disturbance is presented. The discrete-time control algorithm is derived from the solution of the nominal continuous-time closed-loop dynamics. This approach ensures elimination of discretization chattering as well as proper disturbance rejection. Slight modifications of the resulting discrete-time control law are proposed to guarantee ultimate boundedness of the sliding variable and the adaptive gain which is formally proven by means of Lyapunov arguments. Prevention of discretization chattering and disturbance attenuation properties are validated in a simulation and compared to other approaches.

Originalsprache	englisch
Titel	2021 60th IEEE Conference on Decision and Control, CDC 2021
Seiten	6397-6402
DOIs	https://doi.org/10.1109/CDC45484.2021.9682922
Publikationsstatus	Veröffentlicht - 2021
Veranstaltung	60th IEEE Conference on Decision and Control: CDC 2021 - Virtuell, USA / Vereinigte Staaten Dauer: 13 Dez. 2021 → 15 Dez. 2021

Konferenz

Konferenz	60th IEEE Conference on Decision and Control
Kurztitel	CDC 2021
Land/Gebiet	USA / Vereinigte Staaten
Ort	Virtuell
Zeitraum	13/12/21 → 15/12/21

Zugriff auf Dokument

10.1109/CDC45484.2021.9682922

Dieses zitieren

Watermann, L, Eisenzopf, L, Koch, S , Reichhartinger, M , Horn, M & Reger, J 2021, Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law. in 2021 60th IEEE Conference on Decision and Control, CDC 2021. S. 6397-6402, 60th IEEE Conference on Decision and Control, Virtuell, USA / Vereinigte Staaten, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9682922

@inproceedings{90021c8ae7c5432cba3e97b195d7e58a,

title = "Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law",

abstract = "A discrete-time implementation of a continuous-time adaptive gain sliding mode control law for a system with matched disturbance is presented. The discrete-time control algorithm is derived from the solution of the nominal continuous-time closed-loop dynamics. This approach ensures elimination of discretization chattering as well as proper disturbance rejection. Slight modifications of the resulting discrete-time control law are proposed to guarantee ultimate boundedness of the sliding variable and the adaptive gain which is formally proven by means of Lyapunov arguments. Prevention of discretization chattering and disturbance attenuation properties are validated in a simulation and compared to other approaches. ",

author = "Lars Watermann and Lukas Eisenzopf and Stefan Koch and Markus Reichhartinger and Martin Horn and Johann Reger",

year = "2021",

doi = "10.1109/CDC45484.2021.9682922",

language = "English",

pages = "6397--6402",

booktitle = "2021 60th IEEE Conference on Decision and Control, CDC 2021",

note = "60th IEEE Conference on Decision and Control : CDC 2021, CDC 2021 ; Conference date: 13-12-2021 Through 15-12-2021",

}

TY - GEN

T1 - Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law

AU - Watermann, Lars

AU - Eisenzopf, Lukas

AU - Koch, Stefan

AU - Reichhartinger, Markus

AU - Horn, Martin

AU - Reger, Johann

PY - 2021

Y1 - 2021

N2 - A discrete-time implementation of a continuous-time adaptive gain sliding mode control law for a system with matched disturbance is presented. The discrete-time control algorithm is derived from the solution of the nominal continuous-time closed-loop dynamics. This approach ensures elimination of discretization chattering as well as proper disturbance rejection. Slight modifications of the resulting discrete-time control law are proposed to guarantee ultimate boundedness of the sliding variable and the adaptive gain which is formally proven by means of Lyapunov arguments. Prevention of discretization chattering and disturbance attenuation properties are validated in a simulation and compared to other approaches.

AB - A discrete-time implementation of a continuous-time adaptive gain sliding mode control law for a system with matched disturbance is presented. The discrete-time control algorithm is derived from the solution of the nominal continuous-time closed-loop dynamics. This approach ensures elimination of discretization chattering as well as proper disturbance rejection. Slight modifications of the resulting discrete-time control law are proposed to guarantee ultimate boundedness of the sliding variable and the adaptive gain which is formally proven by means of Lyapunov arguments. Prevention of discretization chattering and disturbance attenuation properties are validated in a simulation and compared to other approaches.

U2 - 10.1109/CDC45484.2021.9682922

DO - 10.1109/CDC45484.2021.9682922

M3 - Conference paper

SP - 6397

EP - 6402

BT - 2021 60th IEEE Conference on Decision and Control, CDC 2021

T2 - 60th IEEE Conference on Decision and Control

Y2 - 13 December 2021 through 15 December 2021

ER -

Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law

Abstract

Konferenz

Zugriff auf Dokument

Fingerprint

Dieses zitieren