Experimental Benchmarking of Energy-saving Sub-Optimal Sliding Mode Control
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929499965227008 |
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| author | Ruderman, Michael |
| author_facet | Ruderman, Michael |
| contents | The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the original sub-optimal sliding mode (SM) algorithm, both commutating a discontinuous control signal. In this paper, the energy-saving sub-optimal SM control is experimentally benchmarked against a standard second-order SM controller which also has a discontinuous control action. Here the so-called terminal second-order SM algorithm is used. The controlled plant is affected by the matched bounded disturbances which are unknown, and the output is additionally subject to the sensor noise. Moreover, a first-order actuator dynamics can lead to chattering, which is parasitic for SM applications. For a fair comparison, the same quadratic terminal surface is designed when benchmarking both SM controllers. Both experimentally compared SM algorithms have the same (bounded) control magnitude and states initial conditions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_10113 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Experimental Benchmarking of Energy-saving Sub-Optimal Sliding Mode Control Ruderman, Michael Systems and Control The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the original sub-optimal sliding mode (SM) algorithm, both commutating a discontinuous control signal. In this paper, the energy-saving sub-optimal SM control is experimentally benchmarked against a standard second-order SM controller which also has a discontinuous control action. Here the so-called terminal second-order SM algorithm is used. The controlled plant is affected by the matched bounded disturbances which are unknown, and the output is additionally subject to the sensor noise. Moreover, a first-order actuator dynamics can lead to chattering, which is parasitic for SM applications. For a fair comparison, the same quadratic terminal surface is designed when benchmarking both SM controllers. Both experimentally compared SM algorithms have the same (bounded) control magnitude and states initial conditions. |
| title | Experimental Benchmarking of Energy-saving Sub-Optimal Sliding Mode Control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2407.10113 |