Homogeneous Unit Sliding Mode Control

• 成果类型: Article
• 署名作者: Polyakov, Andrey
• 署名单位: Centre National de la Recherche Scientifique (CNRS); Universite de Lille; Centrale Lille; Inria
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3276893
• 发表日期: 2024
• 页码: 1157-1163
• 关键词: Sliding mode control

摘要

The methodology of the unit sliding mode control design (known since 1970s) for linear systems is revised based on the concept of the generalized homogeneity. The restriction about a consistency of the number of control inputs with the dimension of the sliding surface is eliminated. A simple procedure of control parameters tuning based on a known maximal magnitude of matched perturbations is developed. To deal with perturbations of unknown magnitude, a homogeneous sliding mode control with integral action is designed as well. The theoretical results are supported by numerical simulations.