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Higher Order Sliding Mode Control: Capital University of Science and Technology, Islamabad

This document discusses higher order sliding mode control, which aims to restrict system trajectories to evolve on higher order sliding surfaces where multiple derivatives of the sliding variable are equal to zero. Higher order sliding mode control offers advantages like reduced chattering, finite time convergence, and higher accuracy compared to first order sliding mode control. Two common higher order sliding mode control algorithms are presented: real twisting control, which twists state trajectories about the sliding surface; and super twisting control, which steers both the sliding variable and its derivative to zero in finite time without requiring sampling.

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Omar Zeb Khan
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59 views14 pages

Higher Order Sliding Mode Control: Capital University of Science and Technology, Islamabad

This document discusses higher order sliding mode control, which aims to restrict system trajectories to evolve on higher order sliding surfaces where multiple derivatives of the sliding variable are equal to zero. Higher order sliding mode control offers advantages like reduced chattering, finite time convergence, and higher accuracy compared to first order sliding mode control. Two common higher order sliding mode control algorithms are presented: real twisting control, which twists state trajectories about the sliding surface; and super twisting control, which steers both the sliding variable and its derivative to zero in finite time without requiring sampling.

Uploaded by

Omar Zeb Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 14

Higher Order Sliding Mode Control

Professor Aamer Iqbal Bhatti

Department of Electrical Engineering


Capital University of Science and Technology, Islamabad

April 26, 2019


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 1 / 14
Outline

1 Revisiting first order sliding mode

2 Higher order sliding mode


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 2 / 14
Revisiting first order sliding mode

Revisiting first order sliding mode

Advantages
Insensibility against perturbations (matching perturbations)
The choice of surface s(x, t) = 0 allow to choose a priori the closed-loop
dynamics

Disadvantages
Chattering phenomenon
s(x, t) = 0 must have relative degree equal to 1 w.r.t. u, the control input


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 3 / 14
Higher order sliding mode

Higher order sliding mode I


Objective
In higher order sliding mode (HOSM) the system trajectories are restricted to
evolve onto the sliding surface

Sr = {x ∈ Rn : s = ṡ = . . . = s (r −1) = 0}

(a) FOSM (r = 1) (b) HOSM (r > 1)


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 4 / 14
Higher order sliding mode

Higher order sliding mode II

Introduced by A. Levant (Ph. D. supervisor Emel’yanov) in 1987


Ideal

Sr = {x ∈ Rn : s = ṡ = . . . = s (r −1) = 0}

Real

|s| = O(Tsr ),
|ṡ| = O(Ts(r −1) ),
... = ...,
(r −1)
|s | = O(Ts ),

where Ts is sampling time


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 5 / 14
Higher order sliding mode

Higher order sliding mode III

Advantages
Robustness w.r.t. bounded matching perturbation,
Reduce the sliding dynamics up to at most (n − r ) (in-fact if counting the
added integrators exactly (n − r )).
Finite Time convergence to Sr,
Chattering reduction (sometimes see relative degree of s),
Higher convergence accuracy.


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 6 / 14
Higher order sliding mode

Second order sliding modes

Trajectories are steered in the vicinity of sliding manifold s = ṡ = 0 in finite


time
The second order sliding mode (SOSM) algorithms have been successfully
implemented on many practical systems
The most popular SOSM algorithms are
Real twisting
Super twisting


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 7 / 14
Higher order sliding mode

Real twisting algorithm I

Real twisting is historically a first


second-order sliding mode
controller
It is used to avoid chattering and
provides good robustness properties
This algorithm requires the
measurement of ṡ for the
implementation
State trajectories are twisted about
s = ṡ = 0 and converged in finite
time
This algorithm can be applied to
both relative degree 1 and 2 Figure 2: Convergence of Real Twisting
systems Algorithm


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 8 / 14
Higher order sliding mode

Real twisting algorithm II

Relative degree 1 system


The dynamic control input has the following form
(
−u, |u| > 1
u̇ = ,
−r1 (s) − r2 (ṡ), |u| ≤ 1

where r1 and r2 are controller gains.


If ṡ is not available then ṡ ≈ ∆s, ∆s = s(ti ) − s(ti − ti−1 )


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 9 / 14
Higher order sliding mode

Real twisting algorithm III

Relative degree 2 system


The controller takes the following form
(
−Km (s), |u| > 1
u̇ = ,
−KM (s), |u| ≤ 1

where Km and KM are the controller gains


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 10 / 14
Higher order sliding mode

Super twisting algorithm I

It is the only algorithm that steers


both s and ṡ to 0 manifold in finite
time
The error dynamics during sliding
mode also converges in finite time
(FOSM only yields asymptotic error
convergence)
It is not sensitive to sampling time
Ts
It does not require the derivative of
the sliding variable for
implementation Figure 3: Convergence of Super Twisting
Algorithm


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 11 / 14
Higher order sliding mode

Super twisting algorithm II

Sliding variable dynamics


Consider the second order system

ṡ1 = s2 ,
ṡ2 = a(t, x, u) + b(t, x, u)u̇.

After some transients

|a(t, x, u)| ≤ A > 0,


0 < Γm ≤ b(t, x, u) ≤ Γm .


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 12 / 14
Higher order sliding mode

Super twisting algorithm III


Control law
The total control input is given by

u = u1 + u2 ,
(
−u, |u| > 1
u̇1 = ,
−W (s), |u| ≤ 1
(
−λ|s0 |ρ (s), |s| > s0
u2 = ,
−λ|s|ρ (s), |s| ≤ s0

A 4AΓM (W + A) 1
where W > , λ2 ≥ and 0 < ρ ≤ .
Γm Γ3m (W − A) 2
If dynamics of the sliding variable is affine in control then s0 = ∞ and the
controller reduces to
Z t
u = −λ|s|ρ (s) − W (s)dt
0

c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 13 / 14
Higher order sliding mode

Thank You


c Dr. A. I. Bhatti, CASPR SMC Workshop April 26, 2019 14 / 14

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