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Integral Sliding Mode Control: Performance, Modification and Improvement

Yongping Pan, Chenguang Yang, Lin Pan, Haoyong Yu

IEEE Transactions on Industrial Informatics, Pages: 1 - 1

Swansea University Author: Chenguang Yang

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DOI (Published version): 10.1109/TII.2017.2761389

Abstract

Sliding mode control (SMC) is an attractive for nonlinear systems due to its invariance for both parametric and nonparametric uncertainties. However, the invariance of SMC is not guaranteed in a reaching phase. Integral SMC (ISMC) eliminates the reaching phase such that the invariance is achieved in...

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Published in: IEEE Transactions on Industrial Informatics
ISSN: 1941-0050
Published: 2018
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URI: https://cronfa.swan.ac.uk/Record/cronfa36421
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first_indexed 2017-11-01T05:16:46Z
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spelling 2018-04-12T16:06:16.9952249 v2 36421 2017-11-01 Integral Sliding Mode Control: Performance, Modification and Improvement d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2017-11-01 EEN Sliding mode control (SMC) is an attractive for nonlinear systems due to its invariance for both parametric and nonparametric uncertainties. However, the invariance of SMC is not guaranteed in a reaching phase. Integral SMC (ISMC) eliminates the reaching phase such that the invariance is achieved in an entire system response. To reduce chattering in ISMC, it was suggested that the switching element is smoothed by using a low-pass filter and an integral sliding variable is modified. This study discusses several crucial problems regarding the performance, modification, and improvement of ISMC. Firstly, the modification of the integral sliding variable is revealed to be unnecessary as it degrades the performance of a sliding phase; secondly, ISMC is shown to be a kind of global SMC; thirdly, it is manifested that \tcolor{a high-order ISMC design with super twisting} involves in a stability condition that may be infeasible in theory; finally, an efficient solution is suggested to attenuate chattering in ISMC without the degradation of tracking accuracy and the solution is extended to the case with uncertain control gain functions. Comprehensive simulation results have verified the arguments of this study. Journal Article IEEE Transactions on Industrial Informatics 1 1 1941-0050 Chattering attenuation, disturbance rejection, integral sliding mode, nonlinear system, uncertainty estimation 30 9 2018 2018-09-30 10.1109/TII.2017.2761389 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2018-04-12T16:06:16.9952249 2017-11-01T00:04:50.3944389 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Yongping Pan 1 Chenguang Yang 2 Lin Pan 3 Haoyong Yu 4 0036421-01112017133816.pdf TII17IntegralSliding-plain.pdf 2017-11-01T13:38:16.2370000 Output 1466866 application/pdf Accepted Manuscript true 2017-11-01T00:00:00.0000000 false eng
title Integral Sliding Mode Control: Performance, Modification and Improvement
spellingShingle Integral Sliding Mode Control: Performance, Modification and Improvement
Chenguang Yang
title_short Integral Sliding Mode Control: Performance, Modification and Improvement
title_full Integral Sliding Mode Control: Performance, Modification and Improvement
title_fullStr Integral Sliding Mode Control: Performance, Modification and Improvement
title_full_unstemmed Integral Sliding Mode Control: Performance, Modification and Improvement
title_sort Integral Sliding Mode Control: Performance, Modification and Improvement
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Yongping Pan
Chenguang Yang
Lin Pan
Haoyong Yu
format Journal article
container_title IEEE Transactions on Industrial Informatics
container_start_page 1
publishDate 2018
institution Swansea University
issn 1941-0050
doi_str_mv 10.1109/TII.2017.2761389
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description Sliding mode control (SMC) is an attractive for nonlinear systems due to its invariance for both parametric and nonparametric uncertainties. However, the invariance of SMC is not guaranteed in a reaching phase. Integral SMC (ISMC) eliminates the reaching phase such that the invariance is achieved in an entire system response. To reduce chattering in ISMC, it was suggested that the switching element is smoothed by using a low-pass filter and an integral sliding variable is modified. This study discusses several crucial problems regarding the performance, modification, and improvement of ISMC. Firstly, the modification of the integral sliding variable is revealed to be unnecessary as it degrades the performance of a sliding phase; secondly, ISMC is shown to be a kind of global SMC; thirdly, it is manifested that \tcolor{a high-order ISMC design with super twisting} involves in a stability condition that may be infeasible in theory; finally, an efficient solution is suggested to attenuate chattering in ISMC without the degradation of tracking accuracy and the solution is extended to the case with uncertain control gain functions. Comprehensive simulation results have verified the arguments of this study.
published_date 2018-09-30T03:45:33Z
_version_ 1763752157536845824
score 11.036706

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