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

Xiaogang Xiong, Ryo Kikuuwe, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
出版社American Society of Mechanical Engineers (ASME)
ISBN(印刷版)9780791856147
DOI
出版ステータス出版済み - 1 1 2013
イベントASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, 米国
継続期間: 10 21 201310 23 2013

出版物シリーズ

名前ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
3

その他

その他ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
国/地域米国
CityPalo Alto, CA
Period10/21/1310/23/13

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学

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