Abstract
In this paper, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller applied to relative degree one 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, while, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in finite time not always guaranteed. In the present paper, 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 language | English |
|---|---|
| Title of host publication | 2008 American Control Conference, ACC |
| Pages | 4715-4720 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Sep 30 2008 |
| Externally published | Yes |
| Event | 2008 American Control Conference, ACC - Seattle, WA, United States Duration: Jun 11 2008 → Jun 13 2008 |
Conference
| Conference | 2008 American Control Conference, ACC |
|---|---|
| Country | United States |
| City | Seattle, WA |
| Period | 6/11/08 → 6/13/08 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
A sub-optimal second order sliding mode controller for systems with saturating actuators. / Ferrara, Antonella; Rubagotti, Matteo.
2008 American Control Conference, ACC. 2008. p. 4715-4720 4587239.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A sub-optimal second order sliding mode controller for systems with saturating actuators
AU - Ferrara, Antonella
AU - Rubagotti, Matteo
PY - 2008/9/30
Y1 - 2008/9/30
N2 - In this paper, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller applied to relative degree one 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, while, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in finite time not always guaranteed. In the present paper, 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.
AB - In this paper, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller applied to relative degree one 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, while, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in finite time not always guaranteed. In the present paper, 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.
UR - http://www.scopus.com/inward/record.url?scp=52449105111&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449105111&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4587239
DO - 10.1109/ACC.2008.4587239
M3 - Conference contribution
AN - SCOPUS:52449105111
SN - 9781424420797
SP - 4715
EP - 4720
BT - 2008 American Control Conference, ACC
ER -