The saturation problem is the one of the most common handicaps for applying to real applications, especially the actuator saturation. This paper focuses on the robustness of the sliding mode control （SMC） which inco...The saturation problem is the one of the most common handicaps for applying to real applications, especially the actuator saturation. This paper focuses on the robustness of the sliding mode control （SMC） which incorporates a saturation constraint technique compared to classical linear quadratic regulator （LQR） with saturation. In the first step, the authors present a design methodology of SMC of a class of linear saturated systems. The authors present the structure of the saturation, after that the synthesis of the sliding surface is formulate as a problem of root clustering, which leads to the development of a continuous and non-linear control law that ensures the reaching condition of the sliding mode. The second step is devoted to present briefly the LQR controller technique. Finally, to validate results, the authors demonstrate an example of a quarter of vehicle system.展开更多
文摘The saturation problem is the one of the most common handicaps for applying to real applications, especially the actuator saturation. This paper focuses on the robustness of the sliding mode control （SMC） which incorporates a saturation constraint technique compared to classical linear quadratic regulator （LQR） with saturation. In the first step, the authors present a design methodology of SMC of a class of linear saturated systems. The authors present the structure of the saturation, after that the synthesis of the sliding surface is formulate as a problem of root clustering, which leads to the development of a continuous and non-linear control law that ensures the reaching condition of the sliding mode. The second step is devoted to present briefly the LQR controller technique. Finally, to validate results, the authors demonstrate an example of a quarter of vehicle system.
