Reference model trajectory tracking in continuous-time sliding mode control

Uproszczony widok
dc.contributor.authorLatosiński, Paweł
dc.contributor.authorBartoszewicz, Andrzej
dc.date.accessioned2021-12-03T07:24:46Z
dc.date.available2021-12-03T07:24:46Z
dc.date.issued2021
dc.description.abstractController design for a continuous-time system subject to nonlinear disturbance is a complex task with many challenges. One must ensure that the effects of disturbance on system dynamics are properly compensated, while at the same time keeping state and input constraints in mind. Disturbance rejection by itself is easily achieved using sliding mode controllers (SMC). However, such controllers give no insight into the dynamics of individual state variables, which may be subject to physical constraints. In this paper we propose a solution, which allows one to benefit from the disturbance rejection property of SMC and at the same time obtain better insight into system dynamics. The proposed approach involves a reference model obtained from a canonical form of the controlled system. A sliding mode control strategy is applied to the plant with the aim of driving its state alongside that of the model. Then, since model dynamics are inherently simpler, one can modify them to impose specific constraints on the motion of the system. It is demonstrated that, when the proposed SMC strategy is applied, individual states of the original plant always exactly follow those of the model, regardless of uncertainties.en_EN
dc.identifier.citationLatosiński P., Bartoszewicz A., Reference model trajectory tracking in continuous-time sliding mode control. W: DSTA-2021 Conference Books – Abstracts (16th International Conference : Dynamical Systems Theory and Applications DSTA 2021 ABSTRACTS), Awrejcewicz J. (red.), Kaźmierczak M. (red.), Olejnik P. (red.), Mrozowski J. (red.), Wydawnictwo Politechniki Łódzkiej ; Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki, Łódź 2021, s. 343-344, ISBN 978-83-66741-20-1.
dc.identifier.isbn978-83-66741-20-1
dc.identifier.urihttp://hdl.handle.net/11652/4124
dc.language.isoenen_EN
dc.page.numbers. 343-344
dc.publisherWydawnictwo Politechniki Łódzkiejpl_PL
dc.publisherPolitechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.pl_PL
dc.publisherLodz University of Technology Pressen_EN
dc.publisherLodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.en_EN
dc.relation.ispartofAwrejcewicz J. (Ed.), Kaźmierczak M. (Ed.), Olejnik P. (Ed.), Mrozowski J. (Ed.)., DSTA-2021 Conference Books – Abstracts (16th International Conference : Dynamical Systems Theory and Applications DSTA 2021 ABSTRACTS), Wydawnictwo Politechniki Łódzkiej ; Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki, Łódź 2021, ISBN 978-83-66741-20-1, DOI 10.34658/9788366741201.
dc.rightsAll rights reserveden_EN
dc.rightsFair use conditionen_EN
dc.rightsWszystkie prawa zastrzeżonepl_PL
dc.rightsDla wszystkich w zakresie dozwolonego użytkupl_PL
dc.rights.holderLodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.en_EN
dc.rights.holderPolitechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.pl_PL
dc.rights.licenseLUT Licenseen_EN
dc.rights.licenseLicencja PŁpl_PL
dc.subjectrobust controlen_EN
dc.subjectsliding mode controlen_EN
dc.subjecttrajectory trackingen_EN
dc.subjectcontinuous-time systemsen_EN
dc.subjectsolidne sterowaniepl_PL
dc.subjectsterowanie ślizgowepl_PL
dc.subjectśledzenie trajektoriipl_PL
dc.subjectsystemy ciągłego czasupl_PL
dc.titleReference model trajectory tracking in continuous-time sliding mode controlen_EN
dc.typeAbstracten_EN
dc.typeAbstraktpl_PL

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