Abstract
This article presents a novel method of dealing with disturbances and control saturation in the framework of discrete-time sliding mode control (DSMC). A DSMC with decoupled disturbance compensator (DDC) was developed for SMC to recover the loss of stability in the discrete-time domain. However, windup phenomena occur in both the switching function and the disturbance estimate when control saturation occurs, and the method cannot guarantee stability. The article develops a new method for maintaining stability under both disturbances and control saturation by incorporating a novel auxiliary state into the DSMC with DDC method. The auxiliary state prevents the windup phenomena, and the developed new method preserves the asymptotic convergence property of the disturbance estimation error dynamics and the stability of the sliding mode dynamics. Also, the error states are stable under bounded disturbances and control saturation. Simulations and experiments are performed on a commonly used industrial servo system to demonstrate the effectiveness of the proposed method.
Highlights
S LIDING mode control (SMC) is a special kind of variable structure control and is one of the most successful approaches in general control systems with bounded and matched disturbances
An adaptive SMC method combined with nonlinear disturbance observer (DOB) and the auxiliary state has been proposed for autonomous underwater vehicles to deal with disturbances and control saturation [39]
This article proposes a novel discrete-time sliding mode control (DSMC) with decoupled disturbance compensator (DDC) method to deal with disturbances and control saturation using an auxiliary state
Summary
S LIDING mode control (SMC) is a special kind of variable structure control and is one of the most successful approaches in general control systems with bounded and matched disturbances. An adaptive SMC method combined with nonlinear DOB and the auxiliary state has been proposed for autonomous underwater vehicles to deal with disturbances and control saturation [39]. It is derived in the continuous-time domain. This article proposes a novel DSMC with DDC method to deal with disturbances and control saturation using an auxiliary state. The proposed method can preserve the asymptotic convergence property of the disturbance estimation error dynamics and guarantees the stability of the sliding mode dynamics in the presence of disturbances and control saturation.
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