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Discrete Time Sliding Mode Control with State Constraints and Limited Control Signal

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Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques (AUTOMATION 2022)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1427))

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Abstract

In this paper we discuss the issue of constraining the state variables and the control input in the sliding mode control approach. The considered linear system is perturbed by unknown but bounded external disturbances. In addition, the model uncertainties can vary in time. The sliding mode controller is designed via the reaching law technique and the convergence rate is selected to ensure the fastest and monotonic approaching of the representative point to the predefined switching hyperplane. Moreover, the state constraints are considered in form of linear combinations and the duration of the reaching phase is bounded from above. Results are presented in lemmas that are formally stated and proved.

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Authors and Affiliations

  1. Institute of Automatic Control, Łodź University of Technology, 18 Stefanowskiego St., 90-537, Łodź, Poland

    Marek Jaskuła & Piotr Leśniewski

Authors
  1. Marek Jaskuła
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  2. Piotr Leśniewski
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Corresponding author

Correspondence to Piotr Leśniewski .

Editor information

Editors and Affiliations

  1. Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Jaskuła, M., Leśniewski, P. (2022). Discrete Time Sliding Mode Control with State Constraints and Limited Control Signal. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques. AUTOMATION 2022. Advances in Intelligent Systems and Computing, vol 1427. Springer, Cham. https://doi.org/10.1007/978-3-031-03502-9_5

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