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Experimental Comparisons Between Implicit and Explicit Implementations of Discrete-Time Sliding Mode Controllers: Toward Input and Output Chattering Suppression

Bin Wang 1 Bernard Brogliato 1 Vincent Acary 1 Ahcene Boubakir 2 Franck Plestan 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : This brief presents a set of experimental results concerning the sliding mode control of an electropneumatic system. Two discrete-time control strategies are considered: an explicit and an implicit (that is very easy to implement with a projection on the interval [−1, 1]) Euler discretizations. While the explicit implementation is known to generate numerical chattering , the implicit one is expected to significantly reduce chattering while keeping the accuracy. The experimental results reported in this brief 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 independent of the controller gain and sampling time.
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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: Toward Input and Output Chattering Suppression. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2015, 23 (5), pp.2071-2075. ⟨10.1109/TCST.2015.2396473⟩. ⟨hal-01625866⟩

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