A Note on Continuous Delayed Sliding Mode Control

Denis Efimov (1) , Andrey Polyakov (1) , Leonid Fridman (2) , Wilfrid Perruquetti (1, 3, 4) , Jean-Pierre Richard (1, 3, 4)

1 NON-A - Non-Asymptotic estimation for online systems
2 Departamento de Ingenieria de Control y Robotica
3 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
4 Centrale Lille

A new continuous sliding mode control approach is introduced with the dedicated mathematical tools. A time-delay modification/approximation of sign function is proposed, and it is shown that by substituting this new " sign " realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like time of convergence and uniformity of stability with respect to matched disturbances), while the chattering is seriously reduced. These results are illustrated and confirmed by numerical simulations for the first order sliding mode control and the super-twisting algorithm.

Mots clés: Time delay; Sliding mode; Input-to-state sta-bility

Domaines: Automatique / Robotique

Denis Efimov, Andrey Polyakov, Leonid Fridman, Wilfrid Perruquetti, Jean-Pierre Richard. A Note on Continuous Delayed Sliding Mode Control. Proc. ECC'15, Jul 2015, Linz, Austria. ⟨hal-01140334⟩