This paper presents a new integral sliding mode control (SMC) algorithm that can handle matched uncertainties in the presence of the given fast sensor dynamics. More precisely, by selecting the sliding surface that is sufficiently faster than the sensor dynamics, it is possible to maintain unaffected the time-scale separation between sensors and plant. A modified singular perturbation technique is used to show some semi-global practical asymptotic stability of the closed loop system. By incorporating the knowledge of sensors into the SMC design and by tuning the parameters of the proposed integral SMC appropriately, the main result shows that the closed loop system can converge to a small neighborhood of the origin (the ultimate bound) from some given domain of attraction. Both the ultimate bound and the domain of the attraction are dependent of the time-scale parameter that is related to the sensor dynamics. Simulation results are presented to show the effectiveness of the proposed approach.

本文提出了一种新的积分滑模控制（SMC）算法，该算法可以在给定的快速传感器动态条件下处理匹配的不确定性。更精确地，通过选择足够快于传感器动力学的滑动表面，可以保持传感器与设备之间的时标间隔不受影响。一种改进的奇异摄动技术被用来显示闭环系统的一些半全局实用渐近稳定性。通过将传感器知识整合到SMC设计中并通过适当地调整所建议的整体SMC的参数，主要结果表明，闭环系统可以从某个给定域收敛到原点的一个小邻域（最终边界）。吸引力。极限范围和吸引力域都取决于与传感器动力学相关的时标参数。仿真结果表明了该方法的有效性。