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Guo, Peng; Zhang, Yang; Huang, Weiwei; Huang, Nuodi; Zhang, Long; Zhu, Limin

A generalized reaching-law-based discrete-time integral sliding-mode controller with matched/mismatched disturbance attenuation. (English) Zbl 07892395

Asian J. Control 25, No. 5, 3497-3512 (2023).
Summary: A generalized reaching-law-based (RL-based) discrete-time integral sliding-mode controller, which is versatile for either matched or mismatched disturbances, is designed in this paper to obtain high output tracking accuracy and avoid tremendous control efforts. Specifically, a disturbance decomposition-based discrete-time integral sliding surface is designed, and a generalized discrete-time reaching law is established. Different from the existing integral sliding surfaces, the proposed sliding surface synthesizes a disturbance-related integral term that is defined based on disturbance decomposition; this is crucial to the disturbance attenuation. Moreover, different from the available discrete-time reaching laws, the proposed reaching law introduces an adaptive exponential term into the control gains, and hence, the conventional RL-based discrete-time integral sliding-mode control (DISMC) and the equivalent-control-based (EC-based) DISMC can be integrated. Rigorous analysis shows that the closed-loop system is stable, the control effort can be satisfactory, and the steady-state output tracking accuracy is of order \( O(T^2) \) for both matched and mismatched disturbances. The proposed method is proven effective through numerical simulations.
© 2023 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd.

MSC:

93-XX Systems theory; control

Keywords:

discrete-time sliding-mode control; disturbance attenuation; disturbance decomposition-based integral sliding surface; generalized discrete-time reaching law
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References:

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