Time-delay systems: an overview of some recent advances and open problems

Interval observers for uncertain biological systems

This paper examines the practical design issues of sliding-mode (SM) controllers as applied to the control of dc-dc converters. A comprehensive review of the relevant literature is first provided. Major problems that prevent the use of SM control in dc-dc converters for industrial and commercial applications are investigated. Possible solutions are derived, and practical design procedures are outlined. The performance of SM control is compared with that of conventional linear control in terms of transient characteristics. It has been shown that the use of SM control can lead to an improved robustness in providing consistent transient responses over a wide range of operating conditions.

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General Design Issues of Sliding-Mode Controllers in DC–DC Converters

https://hal.archives-ouvertes.fr/hal-03087190/document

Finite time stability and stabilization of a class of continuous systems

Finite-time consensus for second-order multi-agent systems with disturbances by integral sliding mode

1. Introduction: An Overview of Classical Sliding Mode Control 2. Differential Inclusions and Sliding Mode Control 3. Higher-Order Sliding Modes 4. Sliding Mode Observers 5. Dynamic Sliding Mode Control and Output Feedback 6. Sliding Modes, Passivity, and Flatness 7. Stability and Stabilization 8. Discretization Issues 9. Adaptive and Sliding Mode Control 10. Steady Modes in Relay Systems with Delay 11. Sliding Mode Control for Systems with Time Delay 12. Sliding Mode Control of Infinite-Dimensional Systems 13. Application of Sliding Mode Control to Robotic Systems 14. Sliding Modes Control of the Induction Motor: A Benchmark Experimental Test

Sliding Mode Control in Engineering

The results concern the fundamental problem of Lyapunov analysis of sliding motions. It consist first to estimate the useful part of the sliding surface (the so-called “sliding domain”) and second to estimate the useful part of the state domain that is the domain of all initial conditions for which the corresponding solutions converge to the sliding domain. The application of such results concern the design of a realistic bounded control. Several examples are exposed in order to illustrate the obtained results.

/pdf/lyapunov-analysis-of-sliding-motions-application-to-bounded-3deuztapul.pdf

Lyapunov analysis of sliding motions: Application to bounded control

This paper deals with the robust control problem of a stepper motor subject to parameter uncertainties and load torque perturbation. The developed algorithm is based on third-order sliding-mode control such that a desired angular motor position is accurately tracked. The proposed scheme requires the measurement or the estimation of the motor speed and acceleration for feedback. To avoid the use of tachometers and accelerometers which add cost and energy consumption, a robust second-order sliding-mode observer is presented. Experimental results illustrate the performance and the advantages of the proposed controller.

A Third-Order Sliding-Mode Controller for a Stepper Motor

https://hal.inria.fr/hal-02142027/document

Conditions for Fixed-Time Stability and Stabilization of Continuous Autonomous Systems

This paper addresses the trajectory tracking problem for a wheeled mobile robot (WMR), considering the presence of sliding effects that violate the nonholonomic constraints. Using the singular perturbation approach, the unicycle robot is modelled as a dynamic system which is referenced to the trajectory to be tracked. Indeed, due to the transgression of the nonholonomic constraints, the dynamic model becomes time varying and highly non linear which impose the use of a robust stabilizing control. For this purpose, we propose a solution based on a second order sliding mode control, ensuring the asymptotic convergence of the unicycle about the reference trajectory. Simulation results are reported showing the efficiency of the proposed control with respect to the non ideal constraints and to the nonlinearities.

/pdf/higher-order-sliding-mode-control-of-wheeled-mobile-robots-3oh47k01y5.pdf

Wilfrid Perruquetti

Papers

Sliding Mode Control in Engineering

Lyapunov analysis of sliding motions: Application to bounded control

A Third-Order Sliding-Mode Controller for a Stepper Motor

Conditions for Fixed-Time Stability and Stabilization of Continuous Autonomous Systems

Higher Order Sliding Mode Control of wheeled mobile robots in the presence of sliding effects