HOSM control under quantization and saturation constraints: Zig-Zag design solutions

Leonardo Amet (1) , Malek Ghanes (1) , Jean-Pierre Barbot (1, 2)

1 ECS-Lab - Électronique et Commande des Systèmes Laboratoire
2 NON-A - Non-Asymptotic estimation for online systems

In many experimental systems, discrete and bounded actuators implement control laws with sampling, quantization and saturation problems. This paper is dedicated to only the last two in the context of the implementation of a super twisting sliding mode control. A new control design, called "Zig-Zag sliding mode control", is proposed. Issues of quantization and saturation problems are respectively investigated directly and implicitly by the proposed control. The main contribution of the proposed method consists in having a faster convergence and well performances even when the saturation of the actuators is decreased up to a certain limit in which other methods fail to converge. Simulation results of the proposed method compared to the results of traditional implementations highlight the well founded Zig-Zag design.

Mots clés: Super Twisting; Zig-Zag sliding mode; Higher Order Sliding Modes; Sliding Modes; Saturation; Quantization

Domaines: Automatique / Robotique

Leonardo Amet, Malek Ghanes, Jean-Pierre Barbot. HOSM control under quantization and saturation constraints: Zig-Zag design solutions. CDC 2012 - 51st IEEE Annual Conference on Decision and Control, Dec 2012, Hawaii, United States. ⟨hal-00751557⟩