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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2022

Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

Résumé

This paper presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a setvalued function from the control input and the velocity to the actuator force, which is motivated by quasistatic characteristics of hydraulic actuators shown in a previous study. The implementation of the sliding-mode controller is performed with the implicit discretization of the nominal plant model and the controller, which copes with the difficulties caused by set-valuedness, such as numerical chattering. Stability analyses both in the continuous-time and discrete-time domains are presented. Simulation results illustrate the theoretical findings.
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Dates et versions

hal-03180790 , version 1 (25-03-2021)
hal-03180790 , version 2 (04-02-2022)

Identifiants

Citer

Ryo Kikuuwe, Yuki Yamamoto, Bernard Brogliato. Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators. IEEE Transactions on Automatic Control, 2022, 67 (9), pp.4645-4657. ⟨10.1109/TAC.2022.3163124⟩. ⟨hal-03180790v2⟩
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