Title :
Comparison between explicit and implicit discrete-time implementations of sliding-mode controllers
Author :
Huber, Olivier ; Acary, Vincent ; Brogliato, Bernard
Author_Institution :
BIPOP project-team, INRIA Grenoble Rhone-Alpes, St. Ismier, France
Abstract :
Different time-discretization methods for sliding-mode control (SMC) are presented. A new discrete-time sliding-mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the discretization of the equivalent part of the control input. Results from simulations using the various discretized SMC schemes are shown, with and without perturbations. They illustrate the different behaviours that can be observed.
Keywords :
control system synthesis; discrete time systems; linear systems; perturbation techniques; variable structure systems; LTI; discretized SMC scheme; explicit discrete-time implementation; implicit discrete-time implementation; linear time invariant systems; perturbation technique; sliding mode controller; time discretization method; Closed loop systems; Equations; Manifolds; Mathematical model; Sliding mode control; Trajectory;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760319
