TY - JOUR
T1 - A General Framework for Switched and Variable Gain Higher Order Sliding Mode Control
AU - Incremona, Gian Paolo
AU - Rubagotti, Matteo
AU - Tanelli, Mara
AU - Ferrara, Antonella
N1 - Funding Information:
Manuscript received February 18, 2020; accepted May 14, 2020. Date of publication May 21, 2020; date of current version March 29, 2021. This work was supported by the Nazarbayev University collaborative research project “Stochastic and Learning-Based Predictive Control Methods for Physical Human-Robot Interaction” under Grant 091019CRP2118. The work of Mara Tanelli was supported by the project YOU-SHARE, funded by Fondazione Cariplo. Recommended by Associate Editor L. B. Freidovich. (Corresponding author: Matteo Rubagotti.) Gian Paolo Incremona and Mara Tanelli are with the Diparti-mento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano 20133, Milan, Italy (e-mail: gianpaolo.incremona@polimi.it; mara.tanelli@polimi.it).
Publisher Copyright:
© 1963-2012 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - Sliding mode control is a widely used approach in different application domains, due to its versatility and ease of implementation. As is well known, one of its most serious drawbacks is the presence of chattering. To alleviate this problem, higher order sliding mode (HOSM) approaches have been proposed, which also allow dealing with high relative degree plants. To gain more flexibility in the controller design and to boost performance, switched and variable-gain approaches are being developed for first and second-order sliding mode controllers. This article introduces a conceptual framework to merge the two aspects, providing a general methodology for the design and tuning of high-order sliding mode controllers. The main strength of the method is its generality, in that it accommodates a generic order $r$ sliding mode controller, and it encompasses both continuous and discrete variation of the controller parameters, the latter giving rise to switched strategies. The properties of the closed-loop system are formally analyzed, and the effectiveness of the method is demonstrated in simulation on examples of switched and variable gain HOSM controllers.
AB - Sliding mode control is a widely used approach in different application domains, due to its versatility and ease of implementation. As is well known, one of its most serious drawbacks is the presence of chattering. To alleviate this problem, higher order sliding mode (HOSM) approaches have been proposed, which also allow dealing with high relative degree plants. To gain more flexibility in the controller design and to boost performance, switched and variable-gain approaches are being developed for first and second-order sliding mode controllers. This article introduces a conceptual framework to merge the two aspects, providing a general methodology for the design and tuning of high-order sliding mode controllers. The main strength of the method is its generality, in that it accommodates a generic order $r$ sliding mode controller, and it encompasses both continuous and discrete variation of the controller parameters, the latter giving rise to switched strategies. The properties of the closed-loop system are formally analyzed, and the effectiveness of the method is demonstrated in simulation on examples of switched and variable gain HOSM controllers.
KW - Higher order sliding mode (HOSM)
KW - sliding mode (SM) control
KW - switched control
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U2 - 10.1109/TAC.2020.2996423
DO - 10.1109/TAC.2020.2996423
M3 - Article
AN - SCOPUS:85103468636
VL - 66
SP - 1718
EP - 1724
JO - IRE Transactions on Automatic Control
JF - IRE Transactions on Automatic Control
SN - 0018-9286
IS - 4
M1 - 9097956
ER -