An adaptive reaching law of chattering‐free discrete‐time sliding mode control for systems with external disturbance
Xu Deng, Zhengping Feng, Chenlu He
Abstract
Abstract An adaptive reaching law of chattering‐free discrete‐time sliding mode control is proposed for the systems with external disturbance. An adaptive function is proposed in the reaching law which can increase reaching speed as sliding variable is far away from zero and avoid undesired chattering when sliding variable is close to origin. Moreover, a third‐order backward difference of disturbance is added to obtain a narrower quasi‐sliding mode band (QSMB). Both the closed‐loop system performance and finite reaching steps to achieve the desired QSMB are theoretically analyzed. The simulation results verify the effectiveness of the proposed control strategy.
Topics & Concepts
Control theory (sociology)Sliding mode controlDisturbance (geology)Mode (computer interface)Variable structure controlVariable (mathematics)Function (biology)LawAdaptive controlComputer scienceControl (management)EngineeringMathematicsNonlinear systemPhysicsArtificial intelligencePaleontologyQuantum mechanicsMathematical analysisBiologyPolitical scienceOperating systemEvolutionary biologyAdaptive Control of Nonlinear SystemsIterative Learning Control SystemsControl and Dynamics of Mobile Robots