An adaptive reaching law of chattering-free discrete-time sliding mode control for systems with external disturbance

被引：5
|
作者：
Deng, Xu [1 ]
Feng, Zhengping [1 ,2 ]
He, Chenlu [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Sch Naval Architecture Ocean & Civil Engn, Shanghai, Peoples R China
[2] Shanghai Jiao Tong Univ, State Key Lab Ocean Engn, Shanghai, Peoples R China
来源：
ASIAN JOURNAL OF CONTROL | 2023年 / 25卷 / 03期
关键词：
chattering-free; discrete-time sliding mode control; QSMB; reaching law; reaching speed; VARIABLE-STRUCTURE CONTROL;
D O I：
10.1002/asjc.2845
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive reaching law of chattering-free discrete-time sliding mode control is proposed for the systems with external disturbance. An adaptive function is proposed in the reaching law which can increase reaching speed as sliding variable is far away from zero and avoid undesired chattering when sliding variable is close to origin. Moreover, a third-order backward difference of disturbance is added to obtain a narrower quasi-sliding mode band (QSMB). Both the closed-loop system performance and finite reaching steps to achieve the desired QSMB are theoretically analyzed. The simulation results verify the effectiveness of the proposed control strategy.
引用
收藏
页码：2012 / 2019
页数：8
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