Chaotic Chattering in Sliding Mode Control Systems

• 成果类型: Article
• 署名作者: Rehan, Ahmed; Boiko, Igor; Zweiri, Yahya
• 署名单位: Khalifa University of Science & Technology; Khalifa University of Science & Technology; Khalifa University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3404189
• 发表日期: 2024
• 页码: 7925-7931
• 关键词: Relays; oscillators; control systems; switches; Orbits; nonlinear dynamical systems; chaos; chattering; homogeneous sliding mode (SM); locus of perturbed relay systems (LPRS); self-excited oscillations; sliding mode (SM)

摘要

Chattering in sliding mode (SM) control is known as fast self-excited periodic motions (oscillations) that occur due to the combination of two factors: nonlinearities that are not Lipschitz continuous and additional dynamics of actuators and sensors (the dynamics not accounted for in SM control system design). It is found in the present research that under certain combinations of parameters of the discontinuous homogeneous SM controller and actuator, the chattering is manifested not as periodic but as chaotic oscillations. This work investigates the phenomenon of chaotic chattering through the locus of perturbed relay systems (LPRS) method and the formulated conditions for the periodic solutions found through the LPRS to manifest themselves as periodic motions. Adherence to or violation of these conditions is correlated with the occurrence of periodic or chaotic chattering. The particular controller investigated is a homogeneous SM controller. Bifurcation points in terms of the time constant of the actuator and the relay amplitude are determined.