Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals - BIPOP Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals

Résumé

This paper presents a set of experimental results concerning the sliding mode control of an electro-pneumatic system. Two discrete-time control strategies are considered for the implementation of the discontinuous part of the sliding mode controller: explicit and implicit discretizations. While the explicit implementation is known to generate numerical chattering [6], [7], [12], [13], the implicit one is expected to significantly reduce chattering while keeping the accuracy. The experimental results reported in this work remarkably confirm that the implicit discrete-time sliding mode supersedes the explicit ones, with several important features: chattering in the control input is almost eliminated (while the explicit and saturated controllers behave like high-frequency bang-bang inputs), the input magnitude depends only on the perturbation size and is largely independent of the controller gain and sampling time.
Fichier principal
Vignette du fichier
BWBBVA.pdf (385.17 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01625736 , version 1 (01-11-2017)

Identifiants

Citer

Bin Wang, Bernard Brogliato, Vincent Acary, Ahcene Boubakir, Franck Plestan. Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals. VSS 2014 - 13th IEEE International Workshop on Variable Structure Systems, Jun 2014, Nantes, France. pp.1-6, ⟨10.1109/VSS.2014.6881159⟩. ⟨hal-01625736⟩
1376 Consultations
158 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More