1 / 21

Universidad Nacional Autónoma de México

Universidad Nacional Autónoma de México. Analysis of Steady State Behavior of Second Order Sliding Mode Algorithm I. Boiko, L. Fridman, R. Iriarte. To show. Universidad Nacional Autónoma de México. In the presence of an actuactor the transient process MAY converges to a periodic motion.

lynde
Download Presentation

Universidad Nacional Autónoma de México

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Universidad Nacional Autónoma de México Analysis of Steady State Behavior of Second Order Sliding Mode AlgorithmI. Boiko, L. Fridman, R. Iriarte

  2. To show Universidad Nacional Autónoma de México • In the presence of an actuactor the transient process MAY converges to a periodic motion. Frequency Domain Analysis of HOSMA Also • Parameters of the periodic motion are analyzed. • Comparison between the periodic solutions of systems with HOSMC and oscillations that occur in CSMS with actuators is done.

  3. Universidad Nacional Autónoma de México Higher Order Sliding Mode Algorithms • Twisting IEEE TAC June 2004 • Super Twisting STA

  4. Finite time convergence Plants with relative degree two Relay control law Finite time convergence Plants with relative degree one Continuous control law Twisting Supertwisting Universidad Nacional Autónoma de México Caractheristics of TA and STA

  5. Universidad Nacional Autónoma de México

  6. Universidad Nacional Autónoma de México Super Twisting Algorithm Structure ρ = 0.5 (square root);

  7. Universidad Nacional Autónoma de México

  8. Universidad Nacional Autónoma de México Methods of analysis • Poincaré maps • Describing functions analysis • . . .

  9. Universidad Nacional Autónoma de México Advantages/Disadvantagesof methods • Poincaré maps • Sufficient conditions satisfied • Complicated (requires the knowledge of the general solutions of the equations) A D

  10. Universidad Nacional Autónoma de México Advantages/Disadvantagesof methods • Describing function analysis • Easy to use • Necessary conditions satified only • Approximated method (low pass filtering hypothesis is nedded) • Works with one nonlinearity (modification is done) A D D A R R

  11. DF of the super twisting algorithm Universidad Nacional Autónoma de México Harmonic balance equation

  12. Universidad Nacional Autónoma de México

  13. Universidad Nacional Autónoma de México

  14. Universidad Nacional Autónoma de México Example

  15. Universidad Nacional Autónoma de México

  16. Universidad Nacional Autónoma de México

  17. Universidad Nacional Autónoma de México

  18. Universidad Nacional Autónoma de México

  19. Universidad Nacional Autónoma de México

  20. Universidad Nacional Autónoma de México Conclusions • It was shown that for a plant plus actuactor with relative degree more than one a periodic motion may occur in the systems with the STA. • An algorithm to obtain the parameters of this motion was given. • The comparison between periodic solution parameters for the SAME plants and SAME actuator with UNIT control amplitude for the systems driven by fist order slding modes and STA is done.

  21. Universidad Nacional Autónoma de México Future trends • Universal chattering test. • Frequency shapping. • Robustness properties of systems with actuators driven by STA algorithms

More Related