TY - GEN
T1 - Second order sliding mode control of a perturbed double integrator with state constraints
AU - Rubagotti, Matteo
AU - Ferrara, Antonella
PY - 2010/10/15
Y1 - 2010/10/15
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=77957779597&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77957779597&partnerID=8YFLogxK
U2 - 10.1109/acc.2010.5530711
DO - 10.1109/acc.2010.5530711
M3 - Conference contribution
AN - SCOPUS:77957779597
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 985
EP - 990
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
T2 - 2010 American Control Conference, ACC 2010
Y2 - 30 June 2010 through 2 July 2010
ER -