Title :
A second-order smooth sliding mode control
Author :
Shkolnikov, Ilya A. ; Shtessel, Yuri B. ; Brown, Mark D J
Author_Institution :
Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA
Abstract :
Presented is a method of continuous sliding mode control design to provide for the second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in the absence of unknown disturbances provides for finite-time convergence of the second-order reaching phase dynamics. The application of the second-order disturbance observer in combination with the proposed continuous control law gives the second-order sliding accuracy in the presence of unknown disturbances and a discrete-time control update. The piecewise constant control feedback is "smooth" in the sense that its derivative numerically taken at sampling rate does not contain high frequency components
Keywords :
continuous time systems; discrete time systems; nonlinear dynamical systems; observers; piecewise constant techniques; variable structure systems; continuous control law; continuous sliding mode control design; discrete-time control update; finite-time convergence; high frequency components; nonlinear dynamic feedback; piecewise constant control feedback; sampling rate; second-order disturbance observer; second-order reaching phase dynamics; second-order sliding accuracy; second-order sliding mode; second-order smooth sliding mode control; sliding mode observer; unknown disturbances; Control systems; Convergence; Delay estimation; Feedback; Frequency; Missiles; Nonlinear control systems; Robustness; Sampling methods; Sliding mode control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980698
