Reference model trajectory tracking in continuous-time sliding mode control
Data
2021
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Wydawnictwo Politechniki Łódzkiej
Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.
Lodz University of Technology Press
Lodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.
Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.
Lodz University of Technology Press
Lodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.
Abstrakt
Controller 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.
Opis
Słowa kluczowe
robust control, sliding mode control, trajectory tracking, continuous-time systems, solidne sterowanie, sterowanie ślizgowe, śledzenie trajektorii, systemy ciągłego czasu
Cytowanie
Latosiński 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.