A general canonical form for sliding mode control of nonlinear systems

Author

Sira-Ramirez, H.

Author_Institution

Depto. Ing. Electr., Progr. Mecatronica, CINVESTAV-IPN, Mexico City, Mexico

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

3792

Lastpage

3797

Abstract

A canonical form resembling that of Generalized Hamiltonian systems, except for the inclusion of "dissipation" terms, is proposed for the sliding mode control of nonlinear systems. The canonical form explicitely reveals the conservative, the dissipative and the destabilizing drift vector field components thus allowing for the design of a feedback controller with reduced control effort by taking advantage of the "beneficial nonlinearities" while achieving the reachability of the sliding surface.

Keywords

control system synthesis; feedback; nonlinear control systems; reduced order systems; variable structure systems; conservative drift vector field component; control nonlinearities; destabilizing drift drift vector field component; dissipation terms; dissipative drift vector field component; explicit analysis; feedback controller design; general canonical form; generalized Hamiltonian systems; nonlinear systems; reduced control system; sliding mode control; sliding surface reachability; Adaptive control; Aerospace electronics; Matrix decomposition; Nonlinear systems; Sliding mode control; Symmetric matrices; Tin; Hamiltonian Systems; Sliding Mode Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099922