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

2 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)
Volume3
ISBN (Print)9780791856147
DOIs
Publication statusPublished - 2013
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Other

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

Fingerprint

Position control
Sliding mode control
Three term control systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

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; (Vol. 3). [V003T44A002] American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3872

Backward-Euler discretization of second-order sliding mode control and super-twisting observer for accurate position control. / Xiong, Xiaogang; Kikuuwe, Ryo; Yamamoto, Motoji.

Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. Vol. 3 American Society of Mechanical Engineers (ASME), 2013. V003T44A002.

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

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;. vol. 3, V003T44A002, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 10/21/13. https://doi.org/10.1115/DSCC2013-3872
Xiong X, Kikuuwe R, Yamamoto M. 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;. Vol. 3. American Society of Mechanical Engineers (ASME). 2013. V003T44A002 https://doi.org/10.1115/DSCC2013-3872
Xiong, Xiaogang ; Kikuuwe, Ryo ; Yamamoto, Motoji. / Backward-Euler discretization of second-order sliding mode control and super-twisting observer for accurate position control. Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. Vol. 3 American Society of Mechanical Engineers (ASME), 2013.
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