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Article Dans Une Revue Control Engineering Practice Année : 2022

Upgrading a linear controller to a sliding mode one: Theory and experiments

Résumé

This article proposes a procedure for upgrading a linear proportional controller to a sliding mode one preventing a degradation of a control quality. Two nonlinear algorithms are studied in this context: Unit and Homogeneous Sliding Mode Controllers (SMCs). The parameters of the nonlinear controllers are defined using the gains of the (already well-tuned) linear controller. The main idea of this upgrading procedure is to split the state-space into two regions, the region of the linear control and the region of the nonlinear control. This is done via a suitable design parameter. The theoretical developments are validated experimentally on a rotary inverted pendulum. Comparisons between the already well-tuned linear controller and the proposed upgraded nonlinear controllers are presented. The experiments in a rotary inverted pendulum demonstrate that the upgraded controller significantly improves the control precision without degradation of the control signal.

Domaines

Automatique
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Dates et versions

hal-03612804 , version 1 (18-03-2022)

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Gabriele Perozzi, Andrey Polyakov, Felix Miranda-Villatoro, Bernard Brogliato. Upgrading a linear controller to a sliding mode one: Theory and experiments. Control Engineering Practice, 2022, 123, pp.1-15. ⟨10.1016/j.conengprac.2022.105107⟩. ⟨hal-03612804⟩
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