Authors
Olivier Huber, Vincent Acary, Bernard Brogliato, Franck Plestan
Publication date
2014/12/15
Conference
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Pages
4373-4378
Publisher
IEEE
Description
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.
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