http://iet.metastore.ingenta.com
1887

Discrete sliding control of a coupled-drives apparatus with optimal sliding surface and switching gain

Discrete sliding control of a coupled-drives apparatus with optimal sliding surface and switching gain

For access to this article, please select a purchase option:

Buy article PDF
$19.95
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IEE Proceedings D (Control Theory and Applications) — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

The paper details the design and experimental implementation of a practical discrete-time version of a sliding-mode controller. The controller is derived and proven robustly stable to bounded plant modelling errors and exogenous disturbances. Sliding-surface design is treated as an energy minimisation problem where state energy during sliding on the surface is minimised according to a linear quadratic measure. Analysis of the properties of the control system lead to static and dynamic optimal switching gains. Application of the controller to simulated and experimental versions of a coupled-drives apparatus provide evidence of the robust performance and stability of the controller with classical linear quadratic optimal control. Also demonstrated is the compared effectiveness of the dynamic optimal switching gain.

References

    1. 1)
      • V. Utkin . Variable structure systems with sliding modes. IEEE Trans. Autom. Control , 212 - 222
    2. 2)
      • J-J.E.E. Slotine , S.S. Sastry . Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators. Int. J. Control , 2 , 465 - 492
    3. 3)
      • R.A. Decarlo . Variable structure control of nonlinear multivariable systems: a tutorial. Proc. IEEE , 3 , 212 - 232
    4. 4)
      • K. Furuta . Sliding mode control of a discrete system. Syst. Control Lett. , 145 - 152
    5. 5)
      • S.Z. Sarpturk , Y. Istefanopulos , O. Kaynak . On the stability of discrete time sliding mode control systems. IEEE Trans. Autom. Control , 10 , 930 - 932
    6. 6)
      • U. Kotta . Comments on the stability of discrete time sliding mode control systems. IEEE Trans. Autom. Control , 9 , 1021 - 1022
    7. 7)
      • Pieper, J.K.: `Discrete time sliding mode control', , PhD thesis, Queen's University, Kingston, Canada.
    8. 8)
      • S. Spurgeon . (1991) On the development of discrete time sliding mode control systems, IEE Control 91.
    9. 9)
      • B. Drazenovic . Invariance conditions in variable structure systems. Automatica , 287 - 295
    10. 10)
      • C. Milosavljevic . General conditions for the existence of a quasisliding mode on the switching hyperplane in discrete variable structure systems. Autom. Remote Control , 307 - 314
    11. 11)
      • V.I. Utkin , K.D. Yang . Methods for constructing discontinuity planes in multidimensional variable structure systems. Autom. Remote Control , 1466 - 1470
    12. 12)
      • Pieper, J.K., Surgenor, B.W.: `Optimal surface design for discrete sliding control with application', Submitted to the IEEE Conference on Control Applications, September 1992, Dayton.
    13. 13)
      • K.J. ASTROM , B. WITTENMARK . (1984) , Computer controlled systems theory and design.
http://iet.metastore.ingenta.com/content/journals/10.1049/ip-d.1993.0010
Loading

Related content

content/journals/10.1049/ip-d.1993.0010
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address