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Sliding Manifold Design for Higher-order Sliding Mode Control of Linear Systems

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  • Control Theory and Applications
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Abstract

The paper considers sliding manifold design for higher-order sliding mode (HOSM) in linear systems. In this case, the sliding manifold must meet two requirements: to achieve the desired dynamics in HOSM and to provide the appropriate relative degree of the sliding variable depending on the SM order. It is shown that in the case of single-input systems, a unique sliding manifold can be determined that satisfies these two requirements, whereas in multi-input case, such a manifold exists only in systems satisfying specific structural constraints. Theoretically obtained results are validated through numerical examples and illustrated by digital simulations.

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Authors and Affiliations

  1. Faculty of Electronic Engineering, University of Niš, 18000, Niš, Serbia

    Boban Veselić

  2. Faculty of Electrical Engineering, University of Istočno Sarajevo, 71123, Istočno Sarajevo, Bosnia and Herzegovina

    Čedomir Milosavljević

  3. Faculty of Electrical Engineering, University of Sarajevo, 71000, Sarajevo, Bosnia and Herzegovina

    Branislava Draženović & Senad Huseinbegović

Authors
  1. Boban Veselić
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  2. Čedomir Milosavljević
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  3. Branislava Draženović
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  4. Senad Huseinbegović
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Correspondence to Boban Veselić.

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This work has been supported by the Ministry of Education, Science and Technological Development of the Republic of Serbia.

Boban Veselić received his Ph.D. degree in automatic control from the Faculty of Electronic Engineering, University of Niš, Serbia, in 2006. Since 1995, he has been with the Department of Automatic Control, Faculty of Electronic Engineering of the University of Niš, where he is currently an associate professor. His major field of study is automatic control systems with special expertise in sliding mode control, on which he has published over 100 scientific papers. His current research interests include continuous- and discrete-time sliding mode control systems, disturbance estimation and compensation, servo systems, as well as control of electric drives.

Čedomir Milosavljević received his Dipl. Ing., M.Sc. and Ph.D. degrees from the Moscow Power Institute (1966), the University of Niš (1975) and the University of Sarajevo (1982), respectively. He was (1967–1977) with the Electronic Industry Corporation, Niš and (1978–2005) with the Faculty of Electronic Engineering, Niš, where he was a founder of control engineering studies. He was (1997–2009) Visiting Professor with the University of Istočno Sarajevo. He has authored over 250 papers, eight textbooks and 50 devices. He is a pioneer in investigations of discrete-time sliding-mode control. His research interests include sliding modes, motion control systems, and industrial electronics.

Branislava Draženović received her B.S. degree in electrical engineering from the University of Belgrade in 1960, the Candidate of Technical Sciences degree from the Institute of Control Problems, Moscow, in 1969, and a Ph.D. degree in electrical engineering from the University of Sarajevo in 1971. She worked for Energoinvest in Sarajevo, as a Project Leader from 1960 to 1970. She was a Professor at University of Sarajevo, from 1976 to 2000, when she became a professor emeritus. She was several times a Visiting Professor with Lamar University, University of Illinois and University of Kentucky. Her research interests include automatic control and power systems measurement, control, analysis and planning. Dr. Peruničić-Draženović was a Fulbright Visiting Scholar in 1984. She established an IEEE Section in Bosnia and Herzegovina. She is an elected member of the Bosnian Academy of Sciences from 1986.

Senad Huseinbegović is an Assistant Professor with the Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Bosnia and Herzegovina. Since 2019, he is a Head of the Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo. He received his B.S., M.S., and Ph.D. degrees in electrical engineering from the University of Sarajevo, Sarajevo, Bosnia and Herzegovina, in 2006, 2009, and 2015, respectively. As a researcher, he visited Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany, and the University of Maribor, Slovenia. His research interests include power electronics, electrical machines and drives, power system control and protection.

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Veselić, B., Milosavljević, Č., Draženović, B. et al. Sliding Manifold Design for Higher-order Sliding Mode Control of Linear Systems. Int. J. Control Autom. Syst. 19, 2652–2663 (2021). https://doi.org/10.1007/s12555-020-0493-7

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  • DOI: https://doi.org/10.1007/s12555-020-0493-7

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