Switching Control Algorithm with Reduced Conservativeness in Sliding-Mode Control

This paper presents a design method of a switching control algorithm in which the conservativeness is reduced in sliding-mode control. In a conventional sliding-mode control system, the control input is switched so that a certain function can remain a Lyapunov one in spite of the presence of system...

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Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 73; no. 731; pp. 2042 - 2048
Main Authors HIKITA, Hiromitsu, HANAJIMA, Naohiko, YAMASHITA, Mitsuhisa
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.07.2007
Subjects
Controller
Nonlinear Control
Robust Control
Sliding-Mode Control
Switching Control Law
System Uncertainty
VSS
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Summary:This paper presents a design method of a switching control algorithm in which the conservativeness is reduced in sliding-mode control. In a conventional sliding-mode control system, the control input is switched so that a certain function can remain a Lyapunov one in spite of the presence of system uncertainties. However, the switching gain with conservativeness is generally derived due to the simplicity of the control algorithm. In this case, higher gain is required than is necessary. This situation is not suitable since it causes chattering in system inputs and/or steady state errors in system outputs. In this paper, a condition realizing a Lyapunov function is newly derived. Based on this result, a novel switching control algorithm with reduced conservativeness is proposed. The algorithm is also expanded to an output-tracking control problem. Finally, simulation results are given to illustrate the effectiveness of the proposed switching control algorithm.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.73.2042