Control & Sy ems

eory Seminar at

Technion

(2008 , , )71

Title: Speaker: Time: Place:

Higher Order Sliding Mode Control with Applications Yuri B. Shtessel

The University of Alabama in Huntsville

Monday, March 17, 2008, 11:30 Room 366, Lady Davis Bld (Mechanical Eng.), Technion
of the extensive and successful development of robust adaptive control and backstepping technique, sliding mode control (SMC) stays, probably, the main choice in handling bounded uncertainties/disturbances and unmodeled dynamics. The idea is in stirring the system trajectory to properly chosen constraints (sliding manifold) and keeping it thereafter by means of high-frequency switching control, exploiting the main features of the sliding mode: its insensitivity to external and internal disturbances matched by control and ultimate accuracy and nite-time reaching transient. Stabilization of the sliding variable in SISO systems by means of the traditional SMC, designed as a switching control with respect to the so-called sliding variable, requires the system relative degree to be equal to one with respect to the sliding variable. Also, high frequency control switching leads to the so-called chattering effect, which is exhibited by high frequency vibration of the controlled plant that can be dangerous in applications and difcult to avoid or attenuate. The intrinsic difculties of the traditional SMC are mitigated by the higher order sliding mode control (HOSM) that stabilizes at zero not only the sliding variable, but also its k 1 successive derivatives (k th order HOSM). HOSM is a new generation of SMC that is based on a general discontinuous-control approach. The unique power of the approach is revealed by the development of practical arbitrary-order real-time robust exact differentiator, which performance is proved to be asymptotically optimal in the presence of small Lebesgue-measurable input noises. Applications of HOSM control and observation to blood glucose regulation (diabetes control) and integrated missile-interceptor guidance and autopilot are discussed.

Abstract: Control under uncertainty is one of the main topics of the modern control theory. In spite