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

Xiaogang Xiong; Ryo Kikuuwe; Motoji Yamamoto

doi:10.1115/DSCC2013-3872

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

Xiaogang Xiong, Ryo Kikuuwe, Motoji Yamamoto

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 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 language	English
Title of host publication	Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Print)	9780791856147
DOIs	https://doi.org/10.1115/DSCC2013-3872
Publication status	Published - Jan 1 2013
Event	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States Duration: Oct 21 2013 → Oct 23 2013

Publication series

Name	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume	3

Other

Other	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Country/Territory	United States
City	Palo Alto, CA
Period	10/21/13 → 10/23/13

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.1115/DSCC2013-3872

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; [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

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;. American Society of Mechanical Engineers (ASME), 2013. V003T44A002 (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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;., V003T44A002, ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, vol. 3, 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;. American Society of Mechanical Engineers (ASME). 2013. V003T44A002. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013). doi: 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;. American Society of Mechanical Engineers (ASME), 2013. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013).

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AB - 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.

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

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