Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Chao Liu, Yangmin Li, Sukun Tian, Haifeng Ma (Corresponding Author)

Research output: Journal article publicationJournal articleAcademic researchpeer-review

Abstract

A novel disturbance compensation based sliding mode reaching law with a reference trajectory generator is presented in this work. Unlike existing similar researches, a reference trajectory generator is added to the reaching law to obtain the target evolution of the switching function. Meanwhile, a high order disturbance estimator is utilized to achieve accurate disturbance rejection. Additionally, by using the nonlinear functions, the controller parameters can be adaptively adjusted in a wise manner. The main merit of the presented method is that it is capable of ensuring a much smaller ultimate bound of the switching function, i.e., O(Tn+1) order accuracy and n is a positive integer, better system robustness, and improved control accuracy. Moreover, system dynamics, including the system states, are theoretically analyzed. The performance improvement of the presented method is verified through a real simulation study.

Original languageEnglish
Pages (from-to)3862-3868
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Volume19
Issue number12
DOIs
Publication statusPublished - 6 Dec 2021

Keywords

  • Discrete-time
  • reaching law
  • reference trajectory generator
  • sliding mode control (SMC)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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