Abstract
We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
| Original language | English |
|---|---|
| Article number | 5873128 |
| Pages (from-to) | 2699-2704 |
| Number of pages | 6 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 56 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - Nov 1 2011 |
| Externally published | Yes |
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Keywords
- Disturbance reduction
- integral sliding mode (ISM)
- sliding mode control
- uncertain systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
Integral sliding mode control for nonlinear systems with matched and unmatched perturbations. / Rubagotti, Matteo; Estrada, Antonio; Castaños, Fernando; Ferrara, Antonella; Fridman, Leonid.
In: IEEE Transactions on Automatic Control, Vol. 56, No. 11, 5873128, 01.11.2011, p. 2699-2704.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Integral sliding mode control for nonlinear systems with matched and unmatched perturbations
AU - Rubagotti, Matteo
AU - Estrada, Antonio
AU - Castaños, Fernando
AU - Ferrara, Antonella
AU - Fridman, Leonid
PY - 2011/11/1
Y1 - 2011/11/1
N2 - We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
AB - We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
KW - Disturbance reduction
KW - integral sliding mode (ISM)
KW - sliding mode control
KW - uncertain systems
UR - http://www.scopus.com/inward/record.url?scp=80455150070&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80455150070&partnerID=8YFLogxK
U2 - 10.1109/TAC.2011.2159420
DO - 10.1109/TAC.2011.2159420
M3 - Article
VL - 56
SP - 2699
EP - 2704
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 11
M1 - 5873128
ER -