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Hyperbolic tangent based switching reaching law for discrete time sliding mode control of dynamical systems

机译:动态系统离散时间滑模控制的基于双曲正切的切换到达律

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In this paper we consider the reaching law approach to the sliding mode control of discrete time systems. We present a reaching law based on the hyperbolic tangent trigonometric function. We begin by analyzing the case of nominal systems, and then extend the results to the problem of perturbed systems, that are subjected to disturbances and parameter uncertainties. We show, that for both scenarios the sliding mode controller designed according to the proposed reaching law enforces the quasi-sliding mode defined as changing the sign of the sliding variable in each consecutive control step, while maintaining its value in some a priori known vicinity of zero. We compare our solution to the most popular, constant plus proportional reaching law, and demonstrate, that it offers faster convergence and better robustness.
机译:在本文中,我们考虑了离散时间系统滑模控制的到达律方法。我们提出基于双曲正切三角函数的到达定律。我们首先分析标称系统的情况,然后将结果扩展到受扰动和参数不确定性影响的扰动系统问题。我们表明,对于这两种情况,根据提议的到达定律设计的滑模控制器都将强制执行准滑模,该准滑模定义为在每个连续的控制步骤中更改滑变量的符号,同时将其值保持在某个先验已知的附近。零。我们将我们的解决方案与最流行的,恒定的和成比例的到达定律进行比较,并证明它提供了更快的收敛性和更好的鲁棒性。

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