Control por modos deslizantes de orden superior basado en funciones de Lyapunov
[EN] We give an overview of the methods of analysis and design of High-Order Sliding Mode Controllers (HOSM) and observers, including also those taking advantage of a discontinuous integral action. First, discontinuous state feedback controllers enforcing a sliding mode of arbitrary order are descr...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2022 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/187033 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/187033 |
| Access Level: | acceso abierto |
| Palabra clave: | Sliding Modes Variable Structure Control Lyapunov Methods Integral Control Nonlinear Observers Control integral Modos deslizantes Control de estructura variable Métodos de Lyapunov Observadores no lineales |
| Sumario: | [EN] We give an overview of the methods of analysis and design of High-Order Sliding Mode Controllers (HOSM) and observers, including also those taking advantage of a discontinuous integral action. First, discontinuous state feedback controllers enforcing a sliding mode of arbitrary order are described. Then a recent class of HOSM controllers is presented, which consists of a continuousstate feedback controller and a discontinuous integral term. High-order sliding mode observers are also introduced, which are able to estimate robustly and in finite time the states of the uncertain plant, and they allow the implementation of an output feedback control law. All described designs are based in explicit Lyapunov functions, what is a main contribution of the research group of the authors at the Universidad Nacional Aut´onoma de M´exico, in Mexico City. The paper is tutorial and only the basic results are presented, leaving aside the rigorous mathematical formulation and proof. For this the appropriate literature is referred to. The results are illustrated using simulations and an experimental validation in a laboratory set up of a magnetic levitation system. |
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