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
FERRARA, ANTONELLA;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.File in questo prodotto:
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