Sliding Mode Order and Accuracy in Sliding Mode Adaptation and Convergence Acceleration

Chapter
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 24)

Abstract

Fundamental properties of Sliding Mode (SM) Control (SMC) are considered. The best and worst possible SM accuracy of Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) systems is shown to be directly determined by the number of continuous derivatives of the sliding variables. The best SM accuracy is obtained in the both SISO and MIMO cases by homoneous SMs. SM adaptation is to be based on the detection of a real SM. Such detection is based on the observation of the above best possible accuracy in the presence of noises and discrete sampling. Convergence to SM is accelerated by control, which is piece-wise homogeneous on successive time segments. It allows feedback application of homogeneous SM-based differentiators with piece-wise constant parameters, providing for arbitrarily fast convergence and preserving the optimal accuracy featuring homogeneous SMs. Simulation results show the feasibility of the proposed methods and demonstrate their asymptotic accuracy.

Keywords

IEEE Transaction Slide Mode Control Convergence Time Slide Mode Controller SISO System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Tel Aviv UniversityTel AvivIsrael

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