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

Antonella Ferrara; Matteo Rubagotti

doi:10.1109/ACC.2008.4587239

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

Antonella Ferrara, Matteo Rubagotti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

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	https://doi.org/10.1109/ACC.2008.4587239
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

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2008 American Control Conference, ACC
Country	United States
City	Seattle, WA
Period	6/11/08 → 6/13/08

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2008.4587239

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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.

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

Abstract

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