- Tytuł:
- An itae optimal sliding mode controller for systems with control signal and velocity limitations
- Autorzy:
-
Pietrala, Mateusz
Leśniewski, Piotr
Bartoszewicz, Andrzej - Powiązania:
- https://bibliotekanauki.pl/articles/2204689.pdf
- Data publikacji:
- 2023
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
sliding mode control
optimal control
state constraints - Opis:
- In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.
- Źródło:
-
Acta Mechanica et Automatica; 2023, 17, 2; 230--238
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł