Backward-Euler discretization of second-order sliding mode control and super-twisting observer for accurate position control

Xiaogang Xiong, Ryo Kikuuwe, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper introduces an accurate position control algorithm based on Backward-Euler discretization of a second-order sliding mode control (SOSMC) and the super-twisting observer (STO). This position control algorithm does not produce numerical chattering, which has been known to be a major drawback of explicit implementation of SOSMC and STO. It is more accurate than the conventional PID control that is also free of chattering. In contrast to conventional Backward-Euler discretization schemes of SOSMC and STO, the presented discretization method does not require any special solvers for computation. The accuracy and implementation of this algorithm are illustrated by simulations.

Original languageEnglish
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856147
DOIs
Publication statusPublished - Jan 1 2013
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume3

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Xiong, X., Kikuuwe, R., & Yamamoto, M. (2013). Backward-Euler discretization of second-order sliding mode control and super-twisting observer for accurate position control. In Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; [V003T44A002] (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3872