Przegląd reguł osiągania trybu ślizgowego w układach dyskretnych

pol Artykuł w języku polskim DOI: 10.14313/PAR_233/17

wyślij Piotr Leśniewski Politechnika Łódzka, Instytut Automatyki

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Streszczenie

Stosując znane reguły osiągania trybu ślizgowego, rozpoczyna się działanie od określenia pożądanego przebiegu zmiennej ślizgowej. Następnie projektowany jest regulator gwarantujący, że zmienna ślizgowa układu będzie podążać za wybranym przebiegiem. Przewagą tej metody nad „klasycznym” sterowaniem ślizgowym jest zapewnienie lepszej kontroli nad dynamiką układu i spełnienie ograniczeń zmiennych stanu już podczas fazy osiągania trybu ślizgowego. W artykule przedstawiony zostanie przegląd prac naukowych dotyczących reguł osiągania trybu ślizgowego dla układów czasu dyskretnego. Wskazane i omówione zostaną różnice i podobieństwa między przebiegami stosowanymi przez badaczy.

Słowa kluczowe

dyskretne sterowanie ślizgowe, reguły osiągania trybu ślizgowego

Review of Discrete Time Sliding Mode Reaching Laws

Abstract

In the reaching law approach one first specifies the desired evolution of the sliding variable. Then, a sliding mode controller that ensures this evolution is derived. The main advantage of this method with respect to “classical” sliding mode control is better control of the system dynamics and state constraints during the reaching phase. In this paper, a review of recent results on discrete time reaching laws is presented. The differences and similarities between them are discussed.

Keywords

discrete sliding mode control, reaching laws

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