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.
|Title of host publication||2021 60th IEEE Conference on Decision and Control, CDC 2021|
|Publication status||Published - 2021|
|Event||60th IEEE Conference on Decision and Control: CDC 2021 - Virtuell, United States|
Duration: 13 Dec 2021 → 15 Dec 2021
|Conference||60th IEEE Conference on Decision and Control|
|Abbreviated title||CDC 2021|
|Period||13/12/21 → 15/12/21|