Paper Info
Title
On Parametric Uncertainty in Dynamically Perturbed Sliding Mode Controlled Systems
Abstract
The unmodeled dynamics inside an SMC control loop such as actuators, sensors, time-delays, etc., dynamically perturb their close-loop response, inducing chattering. Dynamically perturbed SMC systems have been widely analyzed in the frequency domain via the Describing Function (DF), Tzypkin method, Locus of a Perturbed Relay System (LPRS), and others, that require a linear representation of the plant (usually given as a transfer function) to later estimate the resulting chattering parameters. However, if parametric variation/uncertainty is present, a unique value of the chattering parameters cannot be guaranteed. In this paper, a method to analyze dynamically perturbed SMC with parametric uncertainty is presented. Parametric uncertainty is addressed as a family of interval second-order transfer functions, formed by cascading a first-order actuator with a plant with relative-degree of one. The proposed method identifies (in closed-form) the member system among the interval, corresponding with the marginal chattering parameters. Hence, leading to the worst-case condition for the whole systems' family and enabling direct design criteria. Analytic and simulated examples to validate the proposed methods are presented.
Year
DOI
Venue
2018
10.1109/VSS.2018.8460325
2018 15th International Workshop on Variable Structure Systems (VSS)
Keywords
Field
DocType
Sliding Mode Control,Frequency domain analysis,parametric uncertainty
Frequency domain,Describing function,Frequency response,Computer science,Control theory,Harmonic analysis,Transfer function,Parametric statistics,Control system,Actuator
Conference
ISBN
Citations 
PageRank 
978-1-5386-6440-7
0
0.34
References 
Authors
7
6
Name
Order
Citations
PageRank
antonio rosales1215.44
Luis Ibarra222.73
Leonid M. Fridman31999211.93
Yuri B. Shtessel436951.65
Pedro Ponce52418.14
Arturo Molina63515.78