Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2012

Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation

Abstract

In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also presented. This implementation, while being based on strong theoretical foundations, appears to bring the present advances in the area closer to industrial application.

Domains

Automatic
Fichier principal
Vignette du fichier
CDC_2012final.pdf (1.39 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00787139 , version 1 (11-02-2013)
hal-00787139 , version 2 (22-02-2013)

Identifiers

Cite

Harshal B. Oza, Vincent Acary, Yury Orlov, Sarah K. Spurgeon, Bernard Brogliato. Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation. CDC 2012 - 2012 IEEE 51st Annual Conference on Decision and Control, Dec 2012, Maui, Hawai, United States. pp.5471-5476, ⟨10.1109/CDC.2012.6426465⟩. ⟨hal-00787139v2⟩
268 View
241 Download

Altmetric

Share

Gmail Facebook X LinkedIn More