Integral sliding mode control for nonlinear systems with matched and unmatched perturbations

Matteo Rubagotti; Antonio Estrada; Fernando Castaños; Antonella Ferrara; Leonid Fridman

doi:10.1109/TAC.2011.2159420

Integral sliding mode control for nonlinear systems with matched and unmatched perturbations

Matteo Rubagotti, Antonio Estrada, Fernando Castaños, Antonella Ferrara, Leonid Fridman

Research output: Contribution to journal › Article › peer-review

281 Citations (Scopus)

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	https://doi.org/10.1109/TAC.2011.2159420
Publication status	Published - Nov 1 2011
Externally published	Yes

Funding

Manuscript received September 06, 2010; revised January 26, 2011 and May 23, 2011; accepted May 30, 2011. Date of publication June 13, 2011; date of current version November 02, 2011. This work was supported in part by Project FONCICYT (Fondo de Cooperatión International en Ciencia y Tec-nología) 93302. Recommended by Associate Editor X. Chen.

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

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10.1109/TAC.2011.2159420

Cite this

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title = "Integral sliding mode control for nonlinear systems with matched and unmatched perturbations",

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.",

keywords = "Disturbance reduction, integral sliding mode (ISM), sliding mode control, uncertain systems",

author = "Matteo Rubagotti and Antonio Estrada and Fernando Casta{\~n}os and Antonella Ferrara and Leonid Fridman",

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AU - Rubagotti, Matteo

AU - Estrada, Antonio

AU - Castaños, Fernando

AU - Ferrara, Antonella

AU - Fridman, Leonid

N1 - Funding Information: Manuscript received September 06, 2010; revised January 26, 2011 and May 23, 2011; accepted May 30, 2011. Date of publication June 13, 2011; date of current version November 02, 2011. This work was supported in part by Project FONCICYT (Fondo de Cooperatión International en Ciencia y Tec-nología) 93302. Recommended by Associate Editor X. Chen.

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

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Integral sliding mode control for nonlinear systems with matched and unmatched perturbations

Abstract

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Keywords

ASJC Scopus subject areas

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