Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems
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Publication:976190
DOI10.1016/J.SYSCONLE.2010.03.002zbMATH Open1191.93030arXiv0904.1682OpenAlexW2081748783MaRDI QIDQ976190FDOQ976190
Authors: Vincent Acary, B. Brogliato 
Publication date: 17 June 2010
Published in: Systems \& Control Letters (Search for Journal in Brave)
Abstract: In this report it is shown that the implicit Euler time-discretization of some classes of switching systems with sliding modes, yields a very good stabilization of the trajectory and of its derivative on the sliding surface. Therefore the spurious oscillations which are pointed out elsewhere when an explicit method is used, are avoided. Moreover the method (an {em event-capturing}, or {em time-stepping} algorithm) allows for accumulation of events (Zeno phenomena) and for multiple switching surfaces (i.e., a sliding surface of codimension ). The details of the implementation are given, and numerical examples illustrate the developments. This method may be an alternative method for chattering suppression, keeping the intrinsic discontinuous nature of the dynamics on the sliding surfaces. Links with discrete-time sliding mode controllers are studied.
Full work available at URL: https://arxiv.org/abs/0904.1682
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- scientific article; zbMATH DE number 5347247
switching systemscomplementarity problemsmaximal monotone mappingsmixed linear complementarity problemsliding modesbackward Euler algorithmFilippov's differential inclusionsZOH discretization
Complementarity and equilibrium problems and variational inequalities (finite dimensions) (aspects of mathematical programming) (90C33) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15) Discrete-time control/observation systems (93C55)
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Cited In (41)
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