Olivier Huber, Vincent Acary, B. Brogliato, F. Plestan
{"title":"无数值抖振的离散扭转控制器:用隐式方法的分析和实验结果","authors":"Olivier Huber, Vincent Acary, B. Brogliato, F. Plestan","doi":"10.1109/CDC.2014.7040071","DOIUrl":null,"url":null,"abstract":"In this note, we present an implementation of the twisting controller on an electropneumatic plant for a tracking control problem. Implicit and explicit discrete-time twisting controllers are considered, and some implementation details are provided. Experimental results are provided and analyzed. They sustain the theoretical superiority of the implicitly discretized version, as shown in previous work. The main advantages of the implicit method are better tracking and drastic reduction in the input and output chattering. This is achieved without modifying the controller structure compared to its continuous-time version.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method\",\"authors\":\"Olivier Huber, Vincent Acary, B. Brogliato, F. Plestan\",\"doi\":\"10.1109/CDC.2014.7040071\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this note, we present an implementation of the twisting controller on an electropneumatic plant for a tracking control problem. Implicit and explicit discrete-time twisting controllers are considered, and some implementation details are provided. Experimental results are provided and analyzed. They sustain the theoretical superiority of the implicitly discretized version, as shown in previous work. The main advantages of the implicit method are better tracking and drastic reduction in the input and output chattering. This is achieved without modifying the controller structure compared to its continuous-time version.\",\"PeriodicalId\":202708,\"journal\":{\"name\":\"53rd IEEE Conference on Decision and Control\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-12-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"53rd IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.2014.7040071\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"53rd IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.2014.7040071","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method
In this note, we present an implementation of the twisting controller on an electropneumatic plant for a tracking control problem. Implicit and explicit discrete-time twisting controllers are considered, and some implementation details are provided. Experimental results are provided and analyzed. They sustain the theoretical superiority of the implicitly discretized version, as shown in previous work. The main advantages of the implicit method are better tracking and drastic reduction in the input and output chattering. This is achieved without modifying the controller structure compared to its continuous-time version.