Discrete-Time Terminal Sliding-Mode Tracking Control With Alleviated Chattering

被引：39
|
作者：
Hou, Huazhou [1 ,2 ]
Yu, Xinghuo [2 ]
Xu, Long [2 ,3 ]
Chuei, Raymond [4 ]
Cao, Zhenwei [4 ]
机构：
[1] Northeastern Univ, State Lab Synth Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
[2] RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia
[3] Southeast Univ, Sch Automat, Minist Educ, Key Lab Measurement & Control CSE, Nanjing 210096, Jiangsu, Peoples R China
[4] Swinburne Univ Technol, Fac Sci Engn & Technol, Melbourne, Vic 3122, Australia
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2019年 / 24卷 / 04期
基金：
澳大利亚研究理事会;
关键词：
Discrete-time; quasi-sliding mode (QSM); reaching-law; tracking; terminal sliding mode; REACHING LAW; SYSTEMS;
D O I：
10.1109/TMECH.2019.2928642
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A tracking controller design problem for the discrete-time uncertain systems is investigated in this paper. A discrete-time terminal sliding-mode tracking controller is designed to achieve high-performance tracking with alleviated chattering phenomenon. A novel reaching-law is proposed which reduces the bandwidth of the quasi-sliding-mode domain and suppresses the chattering. Furthermore, the reaching process and the bound of the tracking error are analyzed in detail. Finally, comparative experimental results are presented to illustrate the effectiveness and advantages of the proposed strategy.
引用
收藏
页码：1808 / 1817
页数：10
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