Comparison of three control structures for inducing higher-order sliding modes

Comparison of three control structures for inducing higher-order sliding modes

Wang, Xuerui (TU Delft Control & Simulation; TU Delft Aerospace Structures & Computational Mechanics)
van Kampen, E. (TU Delft Control & Simulation)
Chu, Q. P. (TU Delft Control & Simulation)

2019

For mitigating the chattering effect in the sliding mode control (SMC), many adaption mechanisms have been proposed to reduce the switching gains. However, less attention is paid to the control structure, which influences the resulting uncertainty term and determines the minimum possible gains. This paper compares three control structures for inducing higher-order sliding modes in finite time: nonlinear dynamic inversion (NDI) based SMC, higher-order sliding mode control (HOSMC) with artificially increased relative degree, and the recently proposed incremental nonlinear dynamic inversion (INDI) based SMC. The latter two control structures have reduced model dependency as compared to NDI-SMC. Moreover, their nominal control increments are found to be approximately equivalent if the sampling interval is sufficiently small and if their gains satisfy certain conditions. Under the same circumstances, the norm value of the resulting uncertainty using INDI-SMC is several orders of magnitude smaller than those using other control structures. For maintaining the sliding modes, the minimum possible gains required by HOSMC approximately equal those needed by INDI-SMC divided by the sampling interval. Nevertheless, these two approaches have comparable chattering degrees, which are effectively reduced as compared to NDI-SMC. The analytical results are verified by numerical simulations.

http://resolver.tudelft.nl/uuid:1bab7da8-0e46-4b39-beb1-2b4232895aa1

https://doi.org/10.23919/ECC.2019.8795872

Institute of Electrical and Electronics Engineers (IEEE)

2022-01-05

9783907144008

2019 18th European Control Conference, ECC 2019

ECC 2019: 18th European Control Conference, 2019-06-25 → 2019-06-28, Napoli, Italy

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2019 Xuerui Wang, E. van Kampen, Q. P. Chu