Switched third-order sliding mode control

Gian Paolo Incremona, Mara Tanelli, Matteo Rubagotti, Antonella Ferrara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7189-7194
Number of pages6
Volume2016-July
ISBN (Electronic)9781467386821
DOIs
Publication statusPublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Conference

Conference2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

Fingerprint

Sliding mode control
Robotics
Controllers
Uncertainty

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Incremona, G. P., Tanelli, M., Rubagotti, M., & Ferrara, A. (2016). Switched third-order sliding mode control. In 2016 American Control Conference, ACC 2016 (Vol. 2016-July, pp. 7189-7194). [7526807] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526807

Switched third-order sliding mode control. / Incremona, Gian Paolo; Tanelli, Mara; Rubagotti, Matteo; Ferrara, Antonella.

2016 American Control Conference, ACC 2016. Vol. 2016-July Institute of Electrical and Electronics Engineers Inc., 2016. p. 7189-7194 7526807.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Incremona, GP, Tanelli, M, Rubagotti, M & Ferrara, A 2016, Switched third-order sliding mode control. in 2016 American Control Conference, ACC 2016. vol. 2016-July, 7526807, Institute of Electrical and Electronics Engineers Inc., pp. 7189-7194, 2016 American Control Conference, ACC 2016, Boston, United States, 7/6/16. https://doi.org/10.1109/ACC.2016.7526807
Incremona GP, Tanelli M, Rubagotti M, Ferrara A. Switched third-order sliding mode control. In 2016 American Control Conference, ACC 2016. Vol. 2016-July. Institute of Electrical and Electronics Engineers Inc. 2016. p. 7189-7194. 7526807 https://doi.org/10.1109/ACC.2016.7526807
Incremona, Gian Paolo ; Tanelli, Mara ; Rubagotti, Matteo ; Ferrara, Antonella. / Switched third-order sliding mode control. 2016 American Control Conference, ACC 2016. Vol. 2016-July Institute of Electrical and Electronics Engineers Inc., 2016. pp. 7189-7194
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