Third order Sliding Mode Control with box state constraints

Antonella Ferrara; Gian Paolo Incremona; Matteo Rubagotti

doi:10.1109/CDC.2014.7040126

Third order Sliding Mode Control with box state constraints

Antonella Ferrara, Gian Paolo Incremona, Matteo Rubagotti

Research output: Contribution to journal › Conference article › peer-review

11 Citations (Scopus)

Abstract

This paper deals with the design of a third order Sliding Mode Control (SMC) algorithm for a perturbed chain of integrators with box constraints on state variables. The proposed strategy takes into account a robust generalization of the so-called Fuller's Problem, which is a standard optimal control problem for a chain of integrators under critical uncertainty condition, and proves to steer the system trajectories to the origin of the state space in finite time, while satisfying the imposed constraints. The proposed algorithm is tested in simulation to solve a trajectory-tracking problem for a nonholonomic car.

Original language	English
Article number	7040126
Pages (from-to)	4727-4732
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2015-February
Issue number	February
DOIs	https://doi.org/10.1109/CDC.2014.7040126
Publication status	Published - Jan 1 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

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10.1109/CDC.2014.7040126

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title = "Third order Sliding Mode Control with box state constraints",

abstract = "This paper deals with the design of a third order Sliding Mode Control (SMC) algorithm for a perturbed chain of integrators with box constraints on state variables. The proposed strategy takes into account a robust generalization of the so-called Fuller's Problem, which is a standard optimal control problem for a chain of integrators under critical uncertainty condition, and proves to steer the system trajectories to the origin of the state space in finite time, while satisfying the imposed constraints. The proposed algorithm is tested in simulation to solve a trajectory-tracking problem for a nonholonomic car.",

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T1 - Third order Sliding Mode Control with box state constraints

AU - Ferrara, Antonella

AU - Incremona, Gian Paolo

AU - Rubagotti, Matteo

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper deals with the design of a third order Sliding Mode Control (SMC) algorithm for a perturbed chain of integrators with box constraints on state variables. The proposed strategy takes into account a robust generalization of the so-called Fuller's Problem, which is a standard optimal control problem for a chain of integrators under critical uncertainty condition, and proves to steer the system trajectories to the origin of the state space in finite time, while satisfying the imposed constraints. The proposed algorithm is tested in simulation to solve a trajectory-tracking problem for a nonholonomic car.

AB - This paper deals with the design of a third order Sliding Mode Control (SMC) algorithm for a perturbed chain of integrators with box constraints on state variables. The proposed strategy takes into account a robust generalization of the so-called Fuller's Problem, which is a standard optimal control problem for a chain of integrators under critical uncertainty condition, and proves to steer the system trajectories to the origin of the state space in finite time, while satisfying the imposed constraints. The proposed algorithm is tested in simulation to solve a trajectory-tracking problem for a nonholonomic car.

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M3 - Conference article

AN - SCOPUS:84988042066

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VL - 2015-February

SP - 4727

EP - 4732

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

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T2 - 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014

Y2 - 15 December 2014 through 17 December 2014

ER -

Third order Sliding Mode Control with box state constraints

Abstract

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