An improved second-order sliding-mode control scheme robust against the measurement noise

Author

Bartolini, Giorgio ; Pisano, Alessandro ; Usai, Elio

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Italy

Volume

49

Issue

10

fYear

2004

Firstpage

1731

Lastpage

1737

Abstract

In this note, the second-order sliding-mode control problem is tackled by explicitly taking into account the presence of measurement error with unknown upper bound δ. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order O(δ). Simulations highlight the robustness and good performance of the proposed approach, and confirm the expected precision order.

Keywords

measurement errors; measurement uncertainty; nonlinear control systems; robust control; uncertain systems; variable structure systems; measurement error; measurement noise; nonlinear uncertain system; robust control; second order sliding mode control; uncertain dynamic; Additive noise; Error correction; Noise measurement; Noise robustness; Nonlinear control systems; Nonlinear systems; Robust control; Sliding mode control; Uncertain systems; Upper bound; Measurement noise; nonlinear systems; second-order sliding modes; uncertain systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2004.835395

Filename

1341567