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ABSTRACT
KeyWords: Sliding mode control, second order sliding mode, sliding mode
observer.
sensitive to unmodeled fast dynamics. Therefore, the trol u(t) = u[kT] = const, kT ≤ t < (k + 1)T, avoiding
designed continuous control cannot be, for instance, an chattering and making control “smooth” enough (piece-
outer-loop feedback in a multi-loop control system. wise-constant signal is not smooth, strictly speaking) to
The idea of this paper is to use the disturbance es- tolerate possible differentiation in the unmodeled inner
timation based on higher-order sliding mode techniques loop.
[15] to design a continuous sliding mode control that
features second-order nonlinear dynamics in the bound- III. CONTINUOUS SLIDING MODE
ary layer. The continuous SMC to be designed will be CONTROL (SMC)
“smooth” in the sense that its discrete-time implementa-
tion will not contain high frequency components in the Finite-reaching-time continuous standard-sliding-
vicinity of the sampling rate. It means that it can be nu- mode controllers have been studied in many works, for
merically differentiated at the same rate and be “smooth” instance, in the work [17]. They provide for the finite-
as well. This fact, in turn, allows the obtained control to time-convergence first-order closed-loop σ-dynamics.
be used in an outer loop of a multi-loop system. The One of the forms in the work [17] is given by
main contribution of this paper is in further development
of the approach presented in work [17]. σ
σ + ρ 0.5
= 0. (2)
σ
II. PROBLEM DESCRIPTION
In absence of uncertainty in the function f(σ, t), the
In multi-loop, time-scaled backstepping-type con- control law
trol systems, an important issue is to provide a so-called
σ
virtual control signal to be smooth in an outer loop, for it u (σ ) = − f (σ , t ) − ρ 0.5
, (3)
has to be tracked by inner cascades of a multi-loop sys- σ
tem that involves inherent differentiation. The same is-
sue appears in the control systems with state observers in renders the closed-loop dynamics (1), as a finite time
the feedback loop, where, frequently, the observer de- convergent nonlinear manifold. When the function f(σ, t)
signed for one part of the system produces the output, is totally uncertain, the continuous control law
which is a command to be followed by another part of σ
the system that produces a feedback input to the first one, u (σ ) = − ρ 0.5
, (4)
closing the loop. Smoothness of a control signal is not σ
easily achievable in control systems with sliding modes
provides for convergence to the arbitrarily small domain
without degrading high precision and robustness.
of attraction, the boundary layer, around the sliding sur-
Consider a MIMO plant with n states and m con-
face σ = 0 in a standard sliding mode, where the gain ρ
trols, where the n – m dimensional sliding surface has
and the uncertainty limit L determine the boundary layer
been designed to meet the control objective, and the
thickness. The drawbacks of this controller are that the
“diagonalization method” [1] has been applied producing
uncertainty limit defines the boundary layer, and even in
m independent first-order dynamics for each sliding
absence of uncertainty the domain of attraction to σ = 0
quantity σ. Thus, the one-dimensional dynamics of the
is proportional to the discrete interval T under the dis-
n-th order system stabilization on a n – 1 dimensional
crete-time control (first-order sliding accuracy).
manifold is given as
3ρ σ
The problem is to establish the sliding mode σ = 0 σ + + 4 ρ sign(σ ) = f (σ , t ) (5)
given exact measurements of σ(t) via discrete-time con- 2 σ 1/ 2
500 Asian Journal of Control, Vol. 5, No. 4, December 2003
are of the second-order finite-time convergence. For the Next, applying La Salle theorem [6] we can prove x → 0
system (1), the following continuous control, as time increases. A set x :{V ( x) = 0} consists of x1 = 0
and x2 equal to any real value. Substituting these values
σ
u = ρ1 1/ 2
+ ρ 0 ∫ sign(σ ) dτ (6) into (8) we obtain x1 = x2 , x2 = 0 . It is easy to show
σ that the only invariant set inside x1 = 0 is the origin,
since x1 = 0 immediately implies x2 = 0. So, we proved
where ρ0 and 1 ρ1 are the design parameters depending
asymptotic convergence x1 and x2 to zero. In the other
on max( f (σ , t )) , provides for the finite-time conver-
words σ → 0 and s → 0 as time increases, and we
gence to the domain σ ~ T 2 in a digital implemetation
have smooth asymptotic 2nd order sliding that is achieved
robustly to any smooth disturbance with a known limit
without a disturbance term.
for its derivative. Convergence time does not depend on
discrete interval T. The closed-loop system under control
Remark. The proven theorem provides for an asymp-
(6) featuring a so-called real sliding mode of the second
totic 2nd order sliding mode via smooth control using
order [13-16].
measurement of σ only.
Providing the accuracy practically comparable to
that of the super-twisting algorithm on one hand and
VI. NONLINEAR PROPOTIONAL-
smoothness of control derivative and resistance to fast
INTEGRAL TYPE CONTROL WITH
sensor dynamics on the other hand is the problem to be
DISTURBANCE ESTIMATION
addressed by the control designed in this work.
The sliding surface compensated dynamics under
V. NONLINEAR PROPOR- the proposed control law (7) is sensitive to the unknown
TIONAL-INTEGRAL TYPE CONTROL bounded term f(σ, t) that is assumed to be smooth, hence,
f (σ , t ) ≤ L , L > 0. In order to compensate for this term
The proposed control algorithm is formulated in
we propose to use the control law (7) that includes a
the following Theorem.
smooth disturbance estimator fˆsmooth (σ , t ) based on the
super-twisting algorithm and a nonlinear proportional-
Theorem. Let α0 > 0, α1 > 0 and uncertain term f(σ, t) =
integral type term
0 in (1) then the smooth control
σ
sign(σ ) dτ − fˆsmooth (σ , t ),
1/ 2 1/ 3 1/ 3
u = −α1 σ sign(σ ) − α 0 ∫ σ sign(σ )dτ (7) u = −α1 1/ 2
− α0 ∫ σ (11)
σ
provides for the asymptotic convergence of the sliding
surface compensated dynamics (1) into 2-sliding mode where
σ = σ = 0 .
(σ − σˆ )
fˆ = ρ1 1/ 2
+ ρ 0 ∫ sign(σ − σˆ )dτ
Proof. The system (1) and (7) can be equivalently pre- σ − σˆ (12)
sented by the system of two first-order equations
σˆ = ∫ ( fˆ + u )dτ
x1 = x2 − α1 x1 sign( x1 ),
1/ 2
1/ 3
(8) and
x2 = −α 0 x1 sign( x1 ),
1/ 3 fˆsmooth = LowPassFilter{ fˆ } (13)
where x1 = σ, and x2 = −α 0 ∫ σ sign(σ )dτ .
The super-twist base observer (12) provides for a finite
Let a Lyapunov function candidate be time convergence, i. e. fˆ = f for all time larger than
some finite time instant. On the other hand, fˆ is not
x22 x1 1/ 3 smooth, and its use in the control law (11) makes the
V ( x1 , x2 ) = + ∫ α 0 z sign( z )dz , (9)
2 0 control law continuous only. In order to retain smooth-
ness of the control law (11) a smooth Low Pass Filter (13)
V(x) > 0, if x ∈ℜ2\{0}, then the Liapunov function should be used. The Low-Pass Filter (13) is to be im-
derivative will be plemented as a second-order observer with finite time
converegnce (for instance, using another super-twisting
∂V x2 − α1 x1 sign( x1 )
1/ 2
V= ⋅ = −α 0α1 x1
5/6
< 0, algorithm in a cascade). Then, provided sufficiently
∂x −α 0 x1 sign( x1 ) smooth uncertainty f(σ, t), the estimate fˆ in (13), low-
1/ 3
(10)
pass filtered before entering control as fˆsmooth , con-
if x ∈ ℜ2 \ {0}. verges to f(σ, t) in a finite time. Considering fˆsmooth ≈
Y.B. Shtessel et al.: An Asymptotic Second-Order Smooth Sliding Mode Control 501
f(⋅), when σ << 1 and the bandwidth of f(σ, t) is far to the 1.0e-5
right from the low-pass filter cut-off frequency, in the 7.5e-6
vicinity of the origin we have the closed-loop asymptotic 5.0e-6
2nd order dynamics (8). Under the discrete control law 2.5e-6
const u(t) = u[kT] = const, kT ≤ t < (k + 1)T, the conver- 0
gence is achievable to the domain σ ~ T 2 . −2.5e-6
−5.0e-6
VII. NUMERICAL SIMULATIONS −7.5e-6
−1.0e-5
To test the designed sliding mode smooth control 0 1 2 3 4 5 6 7 8 9 10
with the second-order SMC disturbance observer, the Time (sec)
plant (1) with the control u(t) = u[kT] = const, kT ≤ t < (k Fig. 1. Smooth asymptotic second order SMC: σ versus time (high
+ 1)T, T = 0.001 sec, is simulated using Euler method resolution)
with integration step τ = 10–5 sec. The feedback control
is designed 2.0
1.5 disturbance f(t)
σ disturbance estimate
sign(σ )dτ − fˆsmooth , (14)
1/ 3
u = −10σ − 0.05 1/ 2
− 5∫ σ 1.0
σ .5
0
where the first term –10σ is to compensate mostly for −.5
the initial condition, and fˆsmooth is the lowpass filtered −1.0
estimate of fˆ , which is given −31.5
−2.0
fˆ = 3 σ − σˆ sign(σ − σˆ ) + 4∫ sign(σ − σˆ )dτ ,
1/ 2 0 1 2 3 4 5 6 7 8 9 10
Time (sec)
(15)
σˆ = ∫ ( fˆ + u )dτ Fig. 2. Smooth asymptotic second order SMC: f(σ, t), and fˆsmooth
versus time.
and the filter equations are the superposition of the su-
pertwisting [15,16] low-pass filter and the filter based on 10.0
a nonlinear dynamic sliding manifold, J, [18] control u(t)
7.5 control derivative \dot u(t)
z1 = z2 5.0
1/ 2
0
J = ( z3 − z1 ) + ∫ (0.2 z3 − z1 sign( z3 − z1 )
−2.5
2/3 (16)
−10 J sign( J ))dτ −5.0
0 1 2 3 4 5 6 7 8 9 10
1/ 2
Time (sec)
z3 = 1.5 fˆ − z3 sign( fˆ − z3 ) + 2∫ sign( fˆ − z3 )dτ Fig. 3. Smooth asymptotic second order SMC: control u[kT] and con-
u[( k + 1)T ] − u[ kT ]
fˆsmooth = z1 trol derivative .
T
1.0e-5 5.00
7.5e-6 3.75
5.0e-6 2.50
2.5e-6 1.25
0 0
−2.5e-6 −1.25
−5.0e-6 −2.50
−7.5e-6 −3.75
−1.0e-5 −5.00
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (sec) Time (sec)
Fig. 4. Smooth asymptotic second order SMC with unmodeled dy- u[( k + 1)T ] − u[ kT ]
namics: σ versus time (high resolution). Fig. 7. Super-twist SMC: control derivative .
T
10.0
.0001
control u(t)
7.5 control derivative \dot u(t) 7.5000e-5
5.0000e-5
5.0
2.5000e-5
2.5 0
0 −2.5000e-5
−5.0000e-5
−2.5
−7.5000e-5
−5.0 −.0001
0 2 4 6 8 10 12 14 16 18 20
Time (sec) 0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Fig. 5. Smooth asymptotic second order SMC with unmodeled dy-
u[( k + 1)T ] − u[ kT ] Fig. 8. Super-twist SMC with unmodeled dynamics: σ versus time
namics: control u[kT] and control derivative . (high resolution).
T
1.0e-5
5.00
7.5e-6
3.75
5.0e-6
2.50
2.5e-6
1.25
0
0
−2.5e-6
−1.25
−5.0e-6
−2.50
−7.5e-6
−3.75
−1.0e-5
0 2 4 6 8 10 12 14 16 18 20 −5.00
Time (sec) 0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Fig. 6. Super-twist SMC: σ versus time (high resolution)
Fig. 9. Super-twist SMC with unmodeled dynamics: control derivative
1/ 2 u[( k + 1)T ] − u[ kT ]
u = −10σ −1.05 σ sign(σ ) −1.4 ∫ sign(σ )dτ (19) .
T
control with applications to reusable launch vehicle con- on the signal processing problems of analytical digital
trol, aircraft re-configurable flight control systems, mis- photogrammetry and computer-vision based navigation.
sile guidance and control systems, and DC-to-DC power
converters. He published over 150 technical papers.