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Nonsmooth funnel transformation function-based discrete-time sliding-mode control with deterministic performance

Yun Cheng1, Xuemei Ren1, Dongdong Zheng1

  • 1School of Automation, Beijing Institute of Technology, Beijing 100081, China.

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|April 8, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces a discrete-time sliding-mode control strategy using a nonsmooth funnel transformation for servo systems. The method effectively manages unknown friction and disturbances, ensuring precise tracking performance.

Keywords:
Filter-based adaptive identification algorithm (FAIA)Funnel controlServo systemsSliding-mode control (SMC)

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Area of Science:

  • Control Engineering
  • Robotics
  • System Identification

Background:

  • Discrete-time servo systems often face challenges from unknown frictions and external disturbances.
  • Accurate system modeling is crucial for effective control, especially when measurement noise is present.

Purpose of the Study:

  • To develop a robust discrete-time sliding-mode control strategy for servo systems with unknown dynamics.
  • To improve tracking performance and guarantee error bounds despite uncertainties.
  • To introduce a novel nonsmooth funnel transformation function for enhanced control.

Main Methods:

  • A filter-based adaptive identification algorithm (FAIA) is employed to identify the discrete-time system model, considering unknown measurement noises.
  • A novel discrete-time nonsmooth funnel transformation function is designed to improve tracking performance.
  • A discrete-time sliding-mode surface is designed to confine tracking errors within a predefined funnel region.

Main Results:

  • The proposed control strategy guarantees that the tracking error is confined within a predefined funnel region.
  • A deterministic performance margin, related to the upper bound of lumped disturbances, is achieved.
  • Theoretical guidance is provided for selecting steady-state funnel boundary and sliding-mode surface parameters.

Conclusions:

  • The nonsmooth funnel transformation-based discrete-time sliding-mode control strategy offers robust performance for servo systems with unknown frictions and disturbances.
  • The FAIA effectively enhances system model accuracy by considering measurement noise.
  • The control strategy ensures deterministic tracking error bounds, outperforming conventional methods.