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Article Dans Une Revue IFAC-PapersOnLine Année : 2020

Semi-Implicit Euler Discretization for Homogeneous Observer-based Control: one dimensional case

Résumé

It is well known that the implicit Euler strategy is a chattering-free implementation of sliding mode algorithms. In this paper, we propose to mix explicit and implicit discretizations in order to deal with homogeneous sliding mode control. More precisely, a semi-implicit discretization for homogeneous observer-based sliding mode control is proposed in one dimensional case with a theoretical stability proof. The effectiveness of the proposed solution is illustrated in simulation by a comparison with explicit Euler discretization.
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hal-02559189 , version 1 (22-07-2024)

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Loïc Michel, Malek Ghanes, Franck Plestan, Yannick Aoustin, Jean-Pierre Barbot. Semi-Implicit Euler Discretization for Homogeneous Observer-based Control: one dimensional case. IFAC-PapersOnLine, 2020, 53 (2), pp.5135-5140. ⟨10.1016/j.ifacol.2020.12.1152⟩. ⟨hal-02559189⟩
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