In control systems design, the problem of managing dynamical systems affected by uncertainties that are different in different region of the state space, or with closedloop specification that should be adjusted to the current operating condition must be often faced. To adapt the controller performance to these spatially-varying phenomena, switched solutions proved to be effective and more easily manageable than conventional adaptive ones. Within this context, this paper addresses the problem of designing a switched sliding mode controller for a class of nonlinear non-affine systems with saturating actuators. The original system is first reduced to an affine form, thus defining a new system which is assumed to be affected by unknown, yet bounded, uncertainties that are different in different regions of the state space. For such system, a switched second order sliding mode control algorithm is designed which can cope with saturating actuators present in the original non-affine system. The control law is proved to ensure finite-time convergence to the origin of the closed-loop trajectory, and a simulation example is given to assess the performance of the proposed approach.

A switched second-order sliding mode control algorithm for non-affine systems with saturations

TANELLI, MARA;
2012

Abstract

In control systems design, the problem of managing dynamical systems affected by uncertainties that are different in different region of the state space, or with closedloop specification that should be adjusted to the current operating condition must be often faced. To adapt the controller performance to these spatially-varying phenomena, switched solutions proved to be effective and more easily manageable than conventional adaptive ones. Within this context, this paper addresses the problem of designing a switched sliding mode controller for a class of nonlinear non-affine systems with saturating actuators. The original system is first reduced to an affine form, thus defining a new system which is assumed to be affected by unknown, yet bounded, uncertainties that are different in different regions of the state space. For such system, a switched second order sliding mode control algorithm is designed which can cope with saturating actuators present in the original non-affine system. The control law is proved to ensure finite-time convergence to the origin of the closed-loop trajectory, and a simulation example is given to assess the performance of the proposed approach.
Proceedings of the 51st IEEE Conference on Decision and Control
978-1-4673-2065-8
AUT
File in questo prodotto:
File Dimensione Formato  
CCD_2012_sm.pdf

Accesso riservato

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 696.43 kB
Formato Adobe PDF
696.43 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: http://hdl.handle.net/11311/759264
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 2
social impact