Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method
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2016
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Linear time-invariant discrete-time plant, with no restrictions on the form of the state equation and with scalar control, is considered. The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, direct current (DC) servo motor, and simulation and experimental results are given. Also, it is compared with another already known algorithm from literature.
Кључне речи:
variable structure / Lyapunov's method / exponential stability / discrete-time systems / Chattering free sliding modeИзвор:
International Journal of Control Automation and Systems, 2016, 14, 3, 698-705Издавач:
- Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon
DOI: 10.1007/s12555-014-0297-8
ISSN: 1598-6446
WoS: 000376830800008
Scopus: 2-s2.0-84973866188
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Институција/група
Mašinski fakultetTY - JOUR AU - Bučevac, Zoran M. AU - Jovanović, Radiša PY - 2016 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2478 AB - Linear time-invariant discrete-time plant, with no restrictions on the form of the state equation and with scalar control, is considered. The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, direct current (DC) servo motor, and simulation and experimental results are given. Also, it is compared with another already known algorithm from literature. PB - Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon T2 - International Journal of Control Automation and Systems T1 - Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method EP - 705 IS - 3 SP - 698 VL - 14 DO - 10.1007/s12555-014-0297-8 ER -
@article{ author = "Bučevac, Zoran M. and Jovanović, Radiša", year = "2016", abstract = "Linear time-invariant discrete-time plant, with no restrictions on the form of the state equation and with scalar control, is considered. The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, direct current (DC) servo motor, and simulation and experimental results are given. Also, it is compared with another already known algorithm from literature.", publisher = "Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon", journal = "International Journal of Control Automation and Systems", title = "Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method", pages = "705-698", number = "3", volume = "14", doi = "10.1007/s12555-014-0297-8" }
Bučevac, Z. M.,& Jovanović, R.. (2016). Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method. in International Journal of Control Automation and Systems Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon., 14(3), 698-705. https://doi.org/10.1007/s12555-014-0297-8
Bučevac ZM, Jovanović R. Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method. in International Journal of Control Automation and Systems. 2016;14(3):698-705. doi:10.1007/s12555-014-0297-8 .
Bučevac, Zoran M., Jovanović, Radiša, "Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method" in International Journal of Control Automation and Systems, 14, no. 3 (2016):698-705, https://doi.org/10.1007/s12555-014-0297-8 . .