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.

Third order sliding mode control with box state constraints

INCREMONA, GIAN PAOLO;
2014-01-01

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.
2014 IEEE 53rd Annual Conference on Decision and Control
978-1-4673-6090-6
978-1-4799-7746-8
978-1-4799-7745-1
Constrained control, higher order sliding mode, uncertain systems
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1027839
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