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Analysis of Higher Order Sliding Mode Controllers with Boundary Layer Approximation
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Graz University of Technology, Institute of Automation and Control, Graz, Austria.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. Department of Information Technologies and AI, Sirius University of Science and Technology, Sochi, Russia.ORCID iD: 0000-0003-0730-9441
2021 (English)In: 2021 60th IEEE Conference on Decision and Control (CDC), IEEE, 2021, Vol. 2021-December, p. 7070-7075Conference paper, Published paper (Refereed)
Abstract [en]

The presence of chattering, i.e. high frequency oscillations with finite amplitude, is unavoidable in systems driven by conventional and higher order sliding mode (HOSM) control. A widely used technique to attenuate chattering is the boundary layer (BL) method; it is based on the approximation of discontinuous terms by a saturation function. However, sliding mode control (SMC) systems with BL approximation still presents chattering due to unmodeled dynamics. Amplitude and frequency of chattering can be estimated applying describing function (DF) and harmonic balance (HB) equation techniques. In this paper, HOSM controllers such as Twisting, Nested second order, and Super Twisting (ST) extension to relative degree two, with BL approximation, are analyzed. The effect of the BL value in the parameters of chattering is studied. When the BL value increments, chattering in systems driven by Twisting and Nested may decrease in amplitude, whereas in the case of ST-extension the variation in amplitude and frequency is minimum. Analysis for the case when the derivative in Twisting and ST-extension algorithms is computed via a linear differentiator is also included. Examples and simulations verifying the results are presented.

Place, publisher, year, edition, pages
IEEE, 2021. Vol. 2021-December, p. 7070-7075
Series
Proceedings of the IEEE Conference on Decision & Control, ISSN 0743-1546, E-ISSN 2576-2370
Keywords [en]
Describing function, Frequency domain analysis, Sliding mode control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-193178DOI: 10.1109/CDC45484.2021.9683424ISI: 000781990306014Scopus ID: 2-s2.0-85126050334ISBN: 978-1-6654-3659-5 (electronic)ISBN: 978-1-6654-3660-1 (print)OAI: oai:DiVA.org:umu-193178DiVA, id: diva2:1645444
Conference
60th IEEE Conference on Decision and Control, CDC 2021, Austin, TX, December 13-17, 2021.
Available from: 2022-03-17 Created: 2022-03-17 Last updated: 2023-09-05Bibliographically approved

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Rosales, AntonioFreidovich, Leonid

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Citation style
  • apa
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