TY - GEN
T1 - Switched third-order sliding mode control
AU - Incremona, Gian Paolo
AU - Tanelli, Mara
AU - Rubagotti, Matteo
AU - Ferrara, Antonella
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - This paper presents a switched third-order sliding mode control algorithm, which allows one to tune the parameters of the controller according to the region of the state space in which the system evolves in time. By doing so, the closed-loop performance can be adapted to possibly different performance objectives and/or different information on the uncertainties affecting the systems. A robotic case study is reported, which shows the advantages offered by the increased flexibility of the proposed algorithm with respect to a classical third-order sliding mode approach.
AB - This paper presents a switched third-order sliding mode control algorithm, which allows one to tune the parameters of the controller according to the region of the state space in which the system evolves in time. By doing so, the closed-loop performance can be adapted to possibly different performance objectives and/or different information on the uncertainties affecting the systems. A robotic case study is reported, which shows the advantages offered by the increased flexibility of the proposed algorithm with respect to a classical third-order sliding mode approach.
UR - http://www.scopus.com/inward/record.url?scp=84992084068&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84992084068&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526807
DO - 10.1109/ACC.2016.7526807
M3 - Conference contribution
AN - SCOPUS:84992084068
VL - 2016-July
T3 - Proceedings of the American Control Conference
SP - 7189
EP - 7194
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -