Second order sliding mode control of a perturbed double integrator with state constraints

Matteo Rubagotti; Antonella Ferrara

doi:10.1109/acc.2010.5530711

Second order sliding mode control of a perturbed double integrator with state constraints

Matteo Rubagotti, Antonella Ferrara

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

30 Citations (Scopus)

Abstract

This paper introduces a second order sliding mode controller for double integrators subject to external disturbances and model uncertainties, with both control and state constraints. The proposed control strategy proves to be able to robustly steer the system state to zero in a finite time, fulfilling the state constraints in spite of the uncertainties, provided that the initial state is inside a given region. The effectiveness of the proposal is then tested on a simulation example.

Original language	English
Title of host publication	Proceedings of the 2010 American Control Conference, ACC 2010
Publisher	IEEE Computer Society
Pages	985-990
Number of pages	6
ISBN (Print)	9781424474264
DOIs	https://doi.org/10.1109/acc.2010.5530711
Publication status	Published - Oct 15 2010
Externally published	Yes
Event	2010 American Control Conference, ACC 2010 - Baltimore, MD, United States Duration: Jun 30 2010 → Jul 2 2010

Publication series

Name	Proceedings of the 2010 American Control Conference, ACC 2010

Other

Other	2010 American Control Conference, ACC 2010
Country/Territory	United States
City	Baltimore, MD
Period	6/30/10 → 7/2/10

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/acc.2010.5530711

Cite this

Second order sliding mode control of a perturbed double integrator with state constraints. / Rubagotti, Matteo; Ferrara, Antonella.
Proceedings of the 2010 American Control Conference, ACC 2010. IEEE Computer Society, 2010. p. 985-990 5530711 (Proceedings of the 2010 American Control Conference, ACC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rubagotti, M & Ferrara, A 2010, Second order sliding mode control of a perturbed double integrator with state constraints. in Proceedings of the 2010 American Control Conference, ACC 2010., 5530711, Proceedings of the 2010 American Control Conference, ACC 2010, IEEE Computer Society, pp. 985-990, 2010 American Control Conference, ACC 2010, Baltimore, MD, United States, 6/30/10. https://doi.org/10.1109/acc.2010.5530711

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AB - This paper introduces a second order sliding mode controller for double integrators subject to external disturbances and model uncertainties, with both control and state constraints. The proposed control strategy proves to be able to robustly steer the system state to zero in a finite time, fulfilling the state constraints in spite of the uncertainties, provided that the initial state is inside a given region. The effectiveness of the proposal is then tested on a simulation example.

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Second order sliding mode control of a perturbed double integrator with state constraints

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