Latosiński, PawełBartoszewicz, Andrzej2021-12-032021-12-032021Latosiński 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 978-83-66741-20-1.978-83-66741-20-1http://hdl.handle.net/11652/4124Controller 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.enAll rights reservedFair use conditionWszystkie prawa zastrzeżoneDla wszystkich w zakresie dozwolonego użytkurobust controlsliding mode controltrajectory trackingcontinuous-time systemssolidne sterowaniesterowanie ślizgoweśledzenie trajektoriisystemy ciągłego czasuAbstractLUT LicenseLicencja PŁLodz University of Technology. Faculty of Mechanical Engineering. Department of Automation, Biomechanics and Mechatronics.Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki.