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

Antonella Ferrara, Matteo Rubagotti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 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 languageEnglish
Title of host publication2008 American Control Conference, ACC
Pages4715-4720
Number of pages6
DOIs
Publication statusPublished - Sep 30 2008
Externally publishedYes
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Conference

Conference2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA
Period6/11/086/13/08

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Controllers

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 proceedingConference contribution

Ferrara, A & Rubagotti, M 2008, A sub-optimal second order sliding mode controller for systems with saturating actuators. in 2008 American Control Conference, ACC., 4587239, pp. 4715-4720, 2008 American Control Conference, ACC, Seattle, WA, United States, 6/11/08. https://doi.org/10.1109/ACC.2008.4587239
Ferrara, Antonella ; Rubagotti, Matteo. / A sub-optimal second order sliding mode controller for systems with saturating actuators. 2008 American Control Conference, ACC. 2008. pp. 4715-4720
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