Skip to Main content Skip to Navigation
Conference papers

A piecewise-polynomial approach to the stability analysis of non-linear switching controllers in presence of sliding modes with application to pneumatic systems

Abstract : This paper concerns the stability analysis of non-linear, switching control laws for pneumatic actuators. A first approach to the problem has been proposed by the authors in [1], under the hypothesis of a simplified model of friction. The approach is based on casting the closed-loop system into a piecewise-affine form. However, if a more realistic friction model is introduced, the method in [1] proves to be too conservative, and unfit to deal with the sliding modes that can occur with this new model. This paper proposes a new method for proving the stability on the system by introducing a less conservative class of Lyapunov function, namely piecewise-polynomial ones. At the end of the paper, we show how such a method can be successfully applied to our experimental setup.
Complete list of metadatas

Cited literature [30 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01246952
Contributor : Paolo Massioni <>
Submitted on : Tuesday, April 30, 2019 - 6:01:15 PM
Last modification on : Tuesday, April 7, 2020 - 2:04:06 AM

File

article_final.pdf
Files produced by the author(s)

Identifiers

Citation

Omar Ameur, Paolo Massioni, Gérard Scorletti, Xavier Brun, Mohamed Smaoui. A piecewise-polynomial approach to the stability analysis of non-linear switching controllers in presence of sliding modes with application to pneumatic systems. 54th IEEE CDC, Dec 2015, Osaka, Japan. pp.4872-4878, ⟨10.1109/CDC.2015.7402980⟩. ⟨hal-01246952⟩

Share

Metrics

Record views

191

Files downloads

82