Abstract
In this chapter, a new sliding mode control design algorithm for a linear and a class of nonlinear quasi-Lipschitz disturbed systems is presented. It is based on the appropriate selection of a sliding surface via the invariant ellipsoid method. The designed control guarantees minimization of unmatched disturbance effects to system motions in a sliding mode. The theoretical results are verified by numerical simulations. Additionally, a methodology for the design of sliding mode controllers for linear systems subjected to matched and unmatched perturbations is proposed. It is considered that the control signal is applied through a first-order low-pass filter. The technique is based on the existence of an attracting (invariant) ellipsoid such that the convergence to a quasiminimal region of the origin using the suboptimal control signal is guaranteed. The design procedure is given in terms of the solution of a set of matrix inequalities. Benchmark examples illustrating the design are given.
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Notes
- 1.
The matching condition for the system (8.1) has the form Df ∈ range(B).
Bibliography
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© 2014 Springer International Publishing Switzerland
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Poznyak, A., Polyakov, A., Azhmyakov, V. (2014). Attractive Ellipsoids in Sliding Mode Control. In: Attractive Ellipsoids in Robust Control. Systems & Control: Foundations & Applications. Birkhäuser, Cham. https://doi.org/10.1007/978-3-319-09210-2_8
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DOI: https://doi.org/10.1007/978-3-319-09210-2_8
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Publisher Name: Birkhäuser, Cham
Print ISBN: 978-3-319-09209-6
Online ISBN: 978-3-319-09210-2
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