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 |
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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 |
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