A sub-optimal second order sliding mode controller for systems with saturating actuators

Antonella Ferrara, Matteo Rubagotti

Research output: Contribution to journalArticle

56 Citations (Scopus)

Abstract

In this technical note, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller, applied to systems with saturating actuators, is addressed. It is proved that during the sliding phase, if basic assumptions are made, the continuous control variable never saturates. On the contrary, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in a finite time not always guaranteed. In the present technical note, the original algorithm is modified in order to solve this problem: a new strategy is proposed, which proves to be able to steer the sliding variable to zero in a finite time in spite of the presence of saturating actuators.

Original languageEnglish
Pages (from-to)1082-1087
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume54
Issue number5
DOIs
Publication statusPublished - May 8 2009
Externally publishedYes

Keywords

  • Saturation
  • Sliding mode control
  • Uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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