Abstract
Chattering in Sliding Mode (SM) control is known as fast self-excited periodic motions (oscillations) that occur due to the combination of two factors: nonlinearities that are not Lipschitz continuous and additional dynamics of actuators and sensors (the dynamics not accounted for in SM control system design). It is found in the present research that under certain combinations of parameters of the discontinuous homogeneous sliding mode controller and actuator, the chattering is manifested not as periodic but as chaotic oscillations. This work investigates the phenomenon of chaotic chattering through the Locus of Perturbed Relay Systems (LPRS) method and the formulated conditions for the periodic solutions found through the LPRS to manifest themselves as periodic motions. Adherence to or violation of these conditions is correlated with the occurrence of periodic or chaotic chattering. The particular controller investigated is a Homogeneous Sliding Mode Controller. Bifurcation points in terms of the time constant of the actuator and the relay amplitude are determined.
| Original language | British English |
|---|---|
| Pages (from-to) | 1-7 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Automatic Control |
| DOIs | |
| State | Accepted/In press - 2024 |
Keywords
- Chaos
- chaos
- chattering
- Control systems
- homogeneous sliding mode
- LPRS
- Nonlinear dynamical systems
- Orbits
- Oscillators
- Relays
- self-excited oscillations
- sliding mode
- Switches