NDLI: Two relay control robustification by continuous switched integral sliding modes

Content Provider	IET Digital Library
Author	Velázquez, Juan Eduardo Velázquez Guerra, Rosalba Galván Fridman, Leonid Iriarte, Rafael
Abstract	Robust generation of self-oscillation for mechanical systems in the presence of matched uncertainties/perturbations based on a two-relay controller, which naturally has a switched structure, is presented. Two scenarios are considered: the case when all the system states are available and the case when only output information is measured. In both scenarios, a continuous switched integral sliding modes controller is implemented to guarantee theoretically exact compensation of matched uncertainties/perturbations before the first switching. The chattering attenuation in the presence of fast parasitic dynamics can be realised by a switched gain strategy of the super-twisting algorithm. In the output-based scenario, the observer and the controller are initiated sequentially. A super twisting-based observer is used, guaranteeing theoretically exact reconstruction of the states before the controller is activated. The observer gains are also switched to diminish the chattering. Once the observer has converged, the reconstructed state is used in the controller to achieve the control objective. The observer and controller are designed to attain convergence before the first switching.
Starting Page	1374
Ending Page	1382
Page Count	9
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 9, Jun (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/9
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5639
Journal	IET Control Theory & Applications
Publisher Date	2018-12-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Continuous Switched Integral Sliding Modes Controller Control Objective Control System Analysis Control System Synthesis Fast Parasitic Dynamics Matched Uncertainties/perturbations Mechanical System Multivariable Control System Nonlinear Control System Observer Gain Observers Output Information Output-based Scenario Reconstructed State Relay Control Robustification Robust Control Robust Generation Stability in Control Theory Super Twisting-based Observer Switched Gain Strategy Switched Structure Synthesis Method System State Theoretically Exact Compensation Theoretically Exact Reconstruction Two-relay Controller Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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