Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals

Abstract : This paper presents a set of experimental results concerning the sliding mode control of an electro-pneumatic system. Two discrete-time control strategies are considered for the implementation of the discontinuous part of the sliding mode controller: explicit and implicit discretizations. While the explicit implementation is known to generate numerical chattering [6], [7], [12], [13], the implicit one is expected to significantly reduce chattering while keeping the accuracy. The experimental results reported in this work remarkably confirm that the implicit discrete-time sliding mode supersedes the explicit ones, with several important features: chattering in the control input is almost eliminated (while the explicit and saturated controllers behave like high-frequency bang-bang inputs), the input magnitude depends only on the perturbation size and is largely independent of the controller gain and sampling time.
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VSS 2014 - 13th IEEE International Workshop on Variable Structure Systems, Jun 2014, Nantes, France. IEEE, Variable Structure Systems (VSS), 2014 13th International Workshop on, pp.1-6, 〈10.1109/VSS.2014.6881159〉
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Bin Wang, Bernard Brogliato, Vincent Acary, Ahcene Boubakir, Franck Plestan. Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals. VSS 2014 - 13th IEEE International Workshop on Variable Structure Systems, Jun 2014, Nantes, France. IEEE, Variable Structure Systems (VSS), 2014 13th International Workshop on, pp.1-6, 〈10.1109/VSS.2014.6881159〉. 〈hal-01625736〉

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