Digital implementation of sliding‐mode control via the implicit method: A tutorial

Brogliato, Bernard; Polyakov, Andrey

doi:10.1002/rnc.5121

Cited by 47 publications

(57 citation statements)

References 130 publications

(530 reference statements)

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“…In future work, pool experiments will be conducted to demonstrate the effectiveness of our proposed controller. Besides, the proposed controller is designed in the continuoustime domain and discretized by the explicit Euler method, which will introduce discretization chattering [50]. A proper discretization scheme is necessary.…”

Section: Discussionmentioning

confidence: 99%

Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

Ding

Tang

Jiang

et al. 2021

JMSE

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This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA.

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Section: Discussionmentioning

confidence: 99%

Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

Ding

Tang

Jiang

et al. 2021

JMSE

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“…The indices values (36), (37) are presented in Table 2. It can be seen that the ET approach can be an efficient alternative to classic TT implementation of the controller algorithms.…”

Section: Resultsmentioning

confidence: 99%

“…The selection of the SMC controller gains is related directly to the sampling time [34,35]. Different discrete implementations of SMC are proposed in [34][35][36][37][38], where implicit techniques overperformed explicit integration schemes. Both techniques introduced a fixed sampling period.…”

Section: Sliding Mode Controller Designmentioning

confidence: 99%

Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach

Sarjaš

Gleich

2022

Mathematics

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The paper describes an event-triggered nonlinear feedback controller design. Event triggering is a real-time controller implementation technique which reduces embedded system utilization and relaxes task scheduling of the real-time system. In contrast to classic time implementation techniques, the event-triggered execution is validated regarding the introduced triggering policy. The triggering rule is a boundary, where the last task value is preserved until the rule is violated. In the given paper, two different event-triggered strategies are designed for the class of dynamic systems with integral behavior. Both methods are based on sliding mode controller design, where the triggering rule of the first design involves only a partial state vector, which is a direct consequence of the triggering rule derivation throughout the Lyapunov stability analysis. In the second approach, the sliding mode controller is designed upon prior stabilized systems with the additional term, which enables derivation of the triggering rule based on the whole state vector. The second approach offers better closed-loop performance and higher relaxation of the system utilization. The selection of triggering boundary is related closely to the derived minimal inter-event time, which impacts the computational burden of the real-time system and closed-loop performance directly. The derived controllers are compared with the classic sample and hold implementation techniques. The real-time results are presented, and system performances are confirmed regarding embedded system task relaxation, lowering the computational intensity and preserving closed-loop dynamics.

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“…It has been emphasized in publications such as [34,48,52,53,54,55] that the discretization of continuous-time systems involving set values or fractional power functions should be carried out with care because:…”

Section: Finite Time Stability Analysismentioning

confidence: 99%

Finite Time Adaptive Smooth Non Linear Sliding Mode Control for Second Order Dynamic Systems

González-Prieto

2022

Preprint

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In this paper, a feedback control law that employs an adaptive smooth nonlinear approximation of the Super-Twisting ( STW ) algorithm is presented in order to generate a smooth control law capable of regulating in finite time a second-order system that is affected by unknown disturbances and uncertainties. A nonlinear sliding surface is created in order to set the desired dynamics of the response, so that the control law is proposed to establish global properties of stability for unperturbed and perturbed systems. More specifically, the method entails determining parameters that eliminate chattering in noise-free models by means of a simple cut-off frequency design parameter approach. Therefore, the approach is characterized by its simplicity and robustness. A second order mechanical system is used to demonstrate the effectiveness of the proposed approach.

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Digital implementation of sliding‐mode control via the implicit method: A tutorial

Cited by 47 publications

References 130 publications

Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation

Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach

Finite Time Adaptive Smooth Non Linear Sliding Mode Control for Second Order Dynamic Systems

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