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Disturbance Compensation based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Chao Liu, Yangmin Li, Sukun Tian, and Haifeng Ma*
International Journal of Control, Automation, and Systems, vol. 19, no. 12, pp.3862-3868, 2021

Abstract : "A novel disturbance compensation based sliding mode reaching law with a reference trajectory generator is presented in this work. Unlike existing similar researches, a reference trajectory generator is added to the reaching law to obtain the target evolution of the switching function. Meanwhile, a high order disturbance estimator is utilized to achieve accurate disturbance rejection. Additionally, by using the nonlinear functions, the controller parameters can be adaptively adjusted in a wise manner. The main merit of the presented method is that it is capable of ensuring a much smaller ultimate bound of the switching function, i.e., O(Tn+1) order accuracy and n is a positive integer, better system robustness, and improved control accuracy. Moreover, system dynamics, including the system states, are theoretically analyzed. The performance improvement of the presented method is verified through a real simulation study."

Keyword : Discrete-time, reaching law, reference trajectory generator, sliding mode control (SMC).

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