PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Punta E. Multivariable Second Order Sliding Mode Control of Mechanical Systems. In: 45th IEEE Conference on Decision and Control (San Diego (CA), USA, 13-15 December 2006). Proceedings, pp. 4939 - 4944. IEEE, 2006.
 
 
Abstract
(English)
The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. With respect to standard sliding mode control, the second order sliding mode techniques for single-input single-output (SISO) systems show the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chattering effect. The extension of these results to the MIMO nonlinear systems is a challenging matter. In the present paper, the validity is extended 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, which represents a general approach to the second order sliding mode control of MIMO systems, is applied to the control of mechanical systems.
DOI: 10.1109/CDC.2006.376980
Subject MIMO systems
control nonlinearities
control system synthesis
nonlinear control systems
uncertain systems
variable structure systems


Icona documento 1) Download Document PDF


Icona documento Open access Icona documento Restricted Icona documento Private

 


Per ulteriori informazioni, contattare: Librarian http://puma.isti.cnr.it

Valid HTML 4.0 Transitional