On robust, multi-input sliding-mode based control with a state-dependent boundary layer

G Herrmann, SK Spurgeon, C Edwards

Research output: Contribution to journalArticle (Academic Journal)peer-review

11 Citations (Scopus)

Abstract

This paper proposes a nonlinear multi-input control law using sliding mode concepts for continuous-time, uncertain, linear systems. The control law introduces a state-dependent layer around the sliding mode plane to remove chattering. This layer combines two types of boundary layers: a constant layer and a sector-shaped layer. The states will always enter the state-dependent boundary layer and the choice of the sliding mode will be seen to determine the ultimate system performance. A proof of stability shows ultimate boundedness. The controller is applied to a nonlinear simulation model of a cart-pendulum and exhibits a high degree of robustness. The new boundary layer in connection with a novel dynamically changing, state-dependent gain can be used to obtain a narrow boundary-layer shape in the operating region of interest. This permits rejection of disturbances without chattering of the control and improves on the performance expected of a sliding-mode control with constant boundary layer.
Translated title of the contributionOn robust, multi-input sliding-mode based control with a state-dependent boundary layer
Original languageEnglish
Pages (from-to)89 - 107
Number of pages19
JournalJournal of Optimization Theory and Applications
Volume129(1)
DOIs
Publication statusPublished - Apr 2006

Bibliographical note

Publisher: Springer Netherlands

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