CDC

PAPER No. FP2-4

SLIDINGMODES IN MULTIDIMENSIONAL
SYSTEMS WITH VARIABLE STRUCTURE
V. I. Utkin
Institute of Control Sciences, USSR

Abstract

Thispaper treats v a r i a b l e s t r u c t u r e systems

w i t hv e c t o rc o n t r o li n p u t s . Eachcomponent of t h e
c o n t r o l v e c t o r i s d i s c o n t i m o u s on a c o r r e s -
ponding s u r f a c e i n the system coordinate space.
I n such systems, sliding modes may arise and
thentrajectorieslie on t h e d i s c o n t i n u i t y
surfaces or their intersections.

A s o - c a l l e d method of e q u i v a l e n t c o n t r o l i s
suggestedwhichallowsformaldevelopmentof
equationsofsuchmotions. The v a l i d i t y o f t h e
s l i d i n g mode equations derived through the
equivalent control approach i s e s t a b l i s h e d by
introduction into the system of small non-
i d e a l i t i e s( o fh y s t e r e s i s ,t i m e - l a g , and
a p e r i o d i c t y p e ) which a r e t h e n made t o t e n d t o
z e r o . I t i s s u g g e s t e dt h a t Liapunov s t a b i l i t y
concepts be applied to derive the conditions
for existence of sliding modes.

I t followsfromtheequationsdescribing
system evolution in the sliding mode t h a t
trajectorycharacteristicsaredependent on
t h ed i s c o n t i n u i t ys u r f a c e se q u a t i o n s .T h e r e f o r e ,
properselectionofthesurfaces on which t h e
componentsofthecontrolvectoraredis-
continuousenables one t o i n t r o d u c e d e s i r e d
p r o p e r t i e si n t ot h es y s t e mr e s p o n s e . A desired
responsecanbeobtained if the trajectory
reachestheintersectionofthediscontinuity
surfacestartingfromanyinitialstate, and
t h a t a t each point of the intersection the
existence conditions for the sliding mode h o l d .

The p a p e r c o n s i d e r s d i f f e r e n t methodsof
variablestructuresystemssynthesis on t h e
basis of the sliding modes b e i n g d e l i b e r a t e l y
introducedintothesystem.Algorithmsare
described for controlling plants with both
constantandvariableparameters,andalso
plants with external disturbances.

A class of systems i s i n d i c a t e d i n which

evolution in the sliding mode possesses
invariance with respect t o v a r i a b l e p a r a m e t e r s
and d i s t u r b a n c e s .

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