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Chattering Refreshed
(a) The ‘sat’ or saturation function: Thus the control takes the form
un = − ρ sgn(σ SB ); σ SB > ε
σ SB _____________________ (3.7)
un = − ρ ; σ SB < ε
ε
(b) The sigmoid function: Thus the control takes the form
σ SB
un = − ρ ; σ SB >> δ
σ SB + δ
_____________________ (3.8)
σ SB
un = − ρ ; σ SB << δ
δ
(c) The third method involves the use of a conical boundary layer
centred symmetrically at the origin instead of the cylindrical boundary
layer dictated by sat function.
It can be shown that the solution to the above differential equation and its
derivative converge to zero in finite time under the following conditions:-
α ≥1 / 2 L
and
β ≥ 4L
and
ξ(t ) ≤L
13. The higher order sliding mode approach formulates an algorithm which is
based on the above differential equation. Thus it can be seen that it allows for
convergence to zero of not only the sliding variable but also its derivatives. The
most effective second order sliding mode algorithm is the super-twisting
algorithm (STA) which introduces the control, u, based on the above differential
equation as
1/ 2
u=α σ s ig n(σ ) + β ∫ s ig n(σ )dσ
The sliding surface and the coefficients are chosen in the same way as in
traditional sliding mode control.
14. However, the main drawback of the standard STA algorithm is that due to
its homogenous nature it will not be able to compensate the uncertainties and
disturbances which grow with the state variables. Hence the linear part must be
exactly known for ensuring sliding motion of the given uncertain system. This
drawback can be overcome by choosing a non-homogenous extension to the
standard STA algorithm which will compensate for those uncertainties and
disturbances that grow with the state variables. This modified algorithm is called
the variable gain STA or VGSTA.
REFERENCES
5. G. Bartolini, A. Ferrara, A. Levant, and E. Usai, “On second order sliding mode
controllers,” in Lecture Notes in Control and Information Sciences, K. D. Young and U.
Ozguner, Eds. Berlin, Germany: Springer-Verlag, 1999, vol. 247, Variable Structure
Systems, Sliding Mode and Nonlinear Control, pp. 329–350.
12. A. Levant, “Sliding order and sliding accuracy in sliding mode control”,
International Journal of Control, Vol. 58,no. 6, pp. 1247-1263. 1993.