Chattering analysis in sliding mode systems with inertial sensors

Author

Fridman, Leonid M.

Author_Institution

Div. of Postgraduate Study & Investigation, Chihuahua Inst. of Technol., Mexico

Volume

2

fYear

2001

fDate

2001

Firstpage

1807

Abstract

Singularly-perturbed relay control systems with 2nd-order sliding modes (SP2SM) are considered for modeling sliding-mode control systems with inertial sensors. It is shown that the asymptotically stable slow-motions integral manifold (ASSMIM) of a smooth singularly-perturbed system, describing the motion of the original SP2SM in the 2nd-order sliding domain, is the ASSMIM of the original SP2SM. For sliding-mode control systems with inertial sensors, sufficient conditions for the exponentially decreasing amplitude of chattering and the unlimited growth of frequency are found. A formula for the asymptotic representation of "ideal" switching surface oscillations is suggested for sliding-mode systems with inertial sensors

Keywords

asymptotic stability; control system analysis; inertial systems; sensors; singularly perturbed systems; stiction; variable structure systems; 2nd-order sliding mode systems; asymptotic representation; asymptotically stable slow-motions integral manifold; exponentially decreasing chattering amplitude; ideal switching surface oscillations; inertial sensors; singularly-perturbed relay control systems; smooth singularly-perturbed system; sufficient conditions; unlimited frequency growth; Actuators; Algorithm design and analysis; Control system synthesis; Control systems; Frequency; Relays; Sensor phenomena and characterization; Sensor systems; Sliding mode control; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.981167

Filename

981167