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Title: Sliding Mode Control of Constrained Nonlinear Systems
Authors: Incremona, Gian Paolo
Rubagotti, Matteo
Ferrara, Antonella
First Published: 31-Aug-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Citation: IEEE Transactions on Automatic Control, 2016, in press
Abstract: This technical note introduces the design of sliding mode control algorithms for nonlinear systems in the presence of hard inequality constraints on both control and state variables. Relying on general results on minimum-time higher-order sliding mode for unconstrained systems, a general order control law is formulated to robustly steer the state to the origin, while satisfying all the imposed constraints. Results on minimum-time convergence to the sliding manifold, as well as on the maximization of the domain of attraction, are analytically proved for the first-order and second-order sliding mode cases. A general result is presented regarding the domain of attraction in the general order case, while numerical results on the estimation of the domain of attraction and on minimum-time convergence are discussed for the third-order case, following a procedure applicable to a sliding mode of any order.
DOI Link: 10.1109/TAC.2016.2605043
ISSN: 0018-9286
Version: Post-print
Status: Peer-reviewed
Type: Journal Article
Rights: Copyright © IEEE, 2016. This article is distributed under the terms of the Creative Commons Attribution-Non Commercial-No Derivatives License ( ), which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.
Appears in Collections:Published Articles, Dept. of Engineering

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