A Discrete-Time Terminal Sliding-Mode Control Approach Applied to a Motion Control Problem
A Discrete-Time Terminal Sliding-Mode Control Approach Applied to a Motion Control Problem
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DOI：
10.1109/tie.2008.2010203
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发表时间：
2009-09
影响因子：
7.7
通讯作者：
K. Abidi;Jian-xin Xu;Jinhua She
中科院分区：
文献类型：
--
作者：
K. Abidi;Jian-xin Xu;Jinhua She
终端滑模（TSM）控制（TSMC）以其在平衡点附近的高增益特性而闻名，而在其他地方保持合理的低增益。这在数字实现中是理想的，如果控制器增益过高，有限的采样频率可能会导致抖振。本文将线性开关曲面与终端开关曲面进行积分。可根据精度要求设计交换面，首次实现了TSM的实时实现。分析和实验研究表明，TSMC设计优于线性滑模控制。
Terminal sliding-mode (TSM) control (TSMC) is known for its high gain property nearby the vicinity of the equilibrium while retaining reasonably low gain elsewhere. This is desirable in digital implementation where the limited sampling frequency may incur chattering if the controller gain is overly high. In this paper, we integrate a linear switching surface with a terminal switching surface. The switching surface can be designed according to the precision requirement, and for the first time, real-time implementation of TSM is carried out. The analysis and experimental investigation show that the TSMC design outperforms the linear sliding-mode control.