Third order Sliding Mode Control with box state constraints

Antonella Ferrara, Gian Paolo Incremona, Matteo Rubagotti

Research output: Contribution to journalConference article

8 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 languageEnglish
Article number7040126
Pages (from-to)4727-4732
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
Publication statusPublished - Jan 1 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

Fingerprint

Box Constraints
State Constraints
Sliding mode control
Sliding Mode Control
Trajectories
Nonholonomic
Trajectory Tracking
Control Algorithm
Optimal Control Problem
State Space
Railroad cars
Trajectory
Uncertainty
Simulation
Strategy
Standards
Design
Generalization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Third order Sliding Mode Control with box state constraints. / Ferrara, Antonella; Incremona, Gian Paolo; Rubagotti, Matteo.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 2015-February, No. February, 7040126, 01.01.2014, p. 4727-4732.

Research output: Contribution to journalConference article

Ferrara, Antonella ; Incremona, Gian Paolo ; Rubagotti, Matteo. / Third order Sliding Mode Control with box state constraints. In: Proceedings of the IEEE Conference on Decision and Control. 2014 ; Vol. 2015-February, No. February. pp. 4727-4732.
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