入力飽和を受ける非線形システムに対するインテグラルスライディングモード制御(機械力学,計測,自動制御)

概要

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This paper presents a new sliding mode controller based on the integral sliding mode control (ISMC). It is shown that the original ISMC, which was proposed by Utkin et al., together with the so-called proportional reaching law tends to bring about windup phenomena under actuator saturation since the dynamics of the switching function is not asymptotically stable. In order to overcome this problem, the dynamics of the auxiliary variable used in ISMC is modified so that the dynamics of the switching function should be asymptotically stable in a certain region of the state space even during the actuator saturation. Thus, the proposed controller guarantees that the sliding mode can take place under the actuator saturation much sooner than the conventional ISMC. In addition, without the actuator saturation, the proposed controller can be seen as a kind of the proportional reaching law. Numerical simulation and experimental results demonstrate the effectiveness of the proposed controller.
2009-11-25