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
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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U2 - 10.1109/TAC.2011.2159420
DO - 10.1109/TAC.2011.2159420
M3 - Article
AN - SCOPUS:80455150070
VL - 56
SP - 2699
EP - 2704
JO - IRE Transactions on Automatic Control
JF - IRE Transactions on Automatic Control
SN - 0018-9286
IS - 11
M1 - 5873128
ER -