A discrete-time sliding mode controller and observer with computation time delay

Abstract Based on discrete-time sliding mode, a robust controller and an observer that consider computation time delay are presented. The computation time delay is assumed to be constant and smaller than the sampling time. To cancel out the effects of perturbation, the proposed controller uses the concept of Time Delay Control (TDC). In the design of the observer, the concept of the discrete-time equivalent control approach is adopted. Furthermore, the combined controller–observer system is investigated. The usefulness of the proposed controller and the observer is demonstrated through experiments on a direct drive motor.

[1]  Howard M. Schwartz,et al.  Towards robust discrete-time sliding mode observers , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[2]  C. Y. Chan,et al.  Robust discrete-time sliding mode controller , 1994 .

[3]  Vadim I. Utkin,et al.  Adaptive sliding mode control in discrete-time systems , 1995, Autom..

[4]  Alan S. I. Zinober,et al.  Sliding lattice design for discrete-time linear multivariable systems , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[5]  Vadim I. Utkin,et al.  A control engineer's guide to sliding mode control , 1996, Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -.

[6]  Alan S. I. Zinober,et al.  Discrete-Time Sliding Mode Control Design , 1996 .

[7]  Wu-Chung Su,et al.  Implementation of variable structure control for sampled-data systems , 1996 .

[8]  M. Tomizuka,et al.  Robust control of discretized continuous systems using the theory of sliding modes , 1995 .

[9]  E. A. Misawa.  Observer-based discrete-time sliding mode control with computational time delay: the linear case , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[10]  K. Furuta,et al.  Sampled-data optimal control of continuous systems for quadratic criterion function taking account of delayed control action , 1985 .

[11]  K. Furuta.  Sliding mode control of a discrete system , 1990 .

[12]  A. J. Koshkouei,et al.  Sliding mode state observers for SISO linear discrete-time systems , 1996 .

[13]  Cheolkeun Ha,et al.  Sampled-data system with computation time delay - Optimal W-synthesis method , 1996 .

[14]  Young,et al.  [IEEE Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS\'96 - - Tokyo, Japan (5-6 Dec. 1996)] Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS\'96 - - A control engineer\'s guide to sliding mode control , 1996 .

[15]  Vadim I. Utkin,et al.  On variable structure observers , 1996, Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -.

[16]  G. Orlando,et al.  Variable structure control for uncertain sampled data systems , 1996, Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -.