In this paper uncertain continuous-time nonlinear systems affine in the control variable and with saturated actuators are considered. The finite-time regulation problem of the system output to zero is then solved by proposing a generic Higher-Order Sliding Mode (HOSM) controller equipped with a novel mechanism to encounter the saturation limits, thus extending previous results on saturated control inputs valid only in case of specific-order sliding mode algorithms. The so-called Bounded Integral Control (BIC) method is reformulated into the framework of continuous HOSM, so as to replace the traditional integrator used to generate the continuous signal directly fed into the plant. Stability conditions for tuning the proposed algorithm are provided, and a numerical example finally assesses the effectiveness of the proposed technique.

Higher-order sliding mode design with bounded integral control generation

Incremona, Gian Paolo;
2022-01-01

Abstract

In this paper uncertain continuous-time nonlinear systems affine in the control variable and with saturated actuators are considered. The finite-time regulation problem of the system output to zero is then solved by proposing a generic Higher-Order Sliding Mode (HOSM) controller equipped with a novel mechanism to encounter the saturation limits, thus extending previous results on saturated control inputs valid only in case of specific-order sliding mode algorithms. The so-called Bounded Integral Control (BIC) method is reformulated into the framework of continuous HOSM, so as to replace the traditional integrator used to generate the continuous signal directly fed into the plant. Stability conditions for tuning the proposed algorithm are provided, and a numerical example finally assesses the effectiveness of the proposed technique.
2022
Sliding mode control, saturation, integral control
File in questo prodotto:
File Dimensione Formato  
bic_hosm_Automatica_pub.pdf

embargo fino al 30/09/2024

Descrizione: Articolo principale
: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 727.65 kB
Formato Adobe PDF
727.65 kB Adobe PDF   Visualizza/Apri
bic_hosm_Automatica_original.pdf

Accesso riservato

Descrizione: Articolo principale
: Publisher’s version
Dimensione 801.72 kB
Formato Adobe PDF
801.72 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1219348
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 5
  • ???jsp.display-item.citation.isi??? 3
social impact