<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.</p>
</abstract>

In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.

An ITAE Optimal Sliding Mode Controller for Systems with Control Signal and Velocity Limitations

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation...

An ITAE Optimal Sliding Mode Controller for Systems with Control Signal and Velocity Limitations

Publicado en línea: 25 abr 2023

Páginas: 230 - 238

Recibido: 02 nov 2022

Aceptado: 05 ene 2023

DOI: https://doi.org/10.2478/ama-2023-0026

Palabras clave
sliding mode control, optimal control, state constraints

© 2023 Mateusz Pietrala et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

An ITAE Optimal Sliding Mode Controller for Systems with Control Signal and Velocity Limitations

Publicado en línea: 25 abr 2023

Páginas: 230 - 238

Recibido: 02 nov 2022

Aceptado: 05 ene 2023

DOI: https://doi.org/10.2478/ama-2023-0026

Palabras clavesliding mode control, optimal control, state constraints

© 2023 Mateusz Pietrala et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
sliding mode control, optimal control, state constraints