PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Punta E. MIMO Second Order Sliding Mode Control. In: VSS 2006 - International Workshop on Variable Structure Systems (Alghero, 5-7 June 2006). Proceedings, pp. 190 - 195. IEEE, 2006.
 
 
Abstract
(English)
The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. Second order sliding mode techniques for single-input single-output (SISO) systems show, with respect to standard sliding mode control, the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chattering effect. The application of second order sliding mode control to MIMO nonlinear systems is a challenging matter. The presented MIMO control method applies to a quite large class of nonlinear processes affected by uncertainties of general nature; the control design is simple; the conditions of existence on the controllers are weak. The proposed procedure represents a general approach to the second order sliding mode control of MIMO systems.
DOI: 10.1109/VSS.2006.1644516
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