High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison

Samer Riachy (1, 2) , Michel Fliess (3) , Cédric Join (4, 2)

1 ECS-Lab - Électronique et Commande des Systèmes Laboratoire
2 NON-A - Non-Asymptotic estimation for online systems
3 LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
4 CRAN - Centre de Recherche en Automatique de Nancy

This communication is devoted to a "practical" comparison between high-order sliding modes and the recently introduced model-free control. The perfect knowledge of the relative degree of the output variable, which is a standard assumption for sliding modes, is assumed here. Our comparisons are based on two concrete case-studies and on numerous computer simulations. The smoothness of the input variables, the robustness with respect to noises and the straightforward extendibility of the model-free controllers to MIMO systems are highlighted.

Mots clés: online parameter estimation; nonlinear control; higher-order sliding mode control; model-free control; intelligent PIDs; online parameter estimation.

Domaines: Automatique; Automatique / Robotique; Optimisation et contrôle [math.OC]

Samer Riachy, Michel Fliess, Cédric Join. High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison. 18th IFAC World Congress, IFAC WC'2011, Aug 2011, Milan, Italy. ⟨10.3182/20110828-6-it-1002.01472⟩. ⟨hal-00580970v2⟩