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Euler implicit time-discretization of multivariable sliding-mode controllers
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DOI：10.1016/j.isatra.2024.01.031.png)
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摘要
En 中文
This paper aims to develop the Euler implicit time-discretization of multivariable sliding-mode controllers to solve the numerical chattering problem without modifying the continuous-time control law. To this end, a continuous-time multi-input plant under a multivariable sliding-mode control is studied, and it is shown that the implicit discretization of the continuous-time sliding-mode controller leads to a multivariable generalized equation with several set-valued terms which is not possible to be solved using the graphical interpretations. Subsequently, an algorithm is proposed to solve such a multivariable generalized equation required to synthesize the implicit sliding-mode control signal at each time step. The proposed algorithm is explained through a simple example accompanied by numerical simulations. The properties of the implicit multivariable sliding-mode controller, e.g. , finite-time convergence, gain insensitivity, and chattering suppression, are studied analytically. Afterwards, a multivariable sliding-mode controller is implemented on a digital processor based on the developed algorithm to control a six-input six-output system, i.e. , six-component thrust generator, and the results are compared with the case where the continuous-time sliding-mode controller is implemented using the conventional Euler explicit discretization. In the end, the related issues and drawbacks are addressed to be considered in future works.
Keyword:
Euler implicit discretization
Backward discretization
Multivariable systems
Multivariable generalized equation
Multivariable sliding-mode control
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IF:
6.5
论文数:
6.0K
被引数:
2.0W
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