Third order Sliding Mode Control with box state constraints

Antonella Ferrara, Gian Paolo Incremona, Matteo Rubagotti

Research output: Contribution to journalConference articlepeer-review

11 Citations (Scopus)


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
Issue numberFebruary
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

ASJC Scopus subject areas

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


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