Gain Reduction in Switched Sliding Mode Control

Authors:	Ferrara Antonella, University of Pavia, Italy Scattolini Riccardo, Politecnico di Milano, Italy
Topic:	2.3 Non-Linear Control Systems
Session:	Sliding Mode Control II
Keywords:	Nonlinear systems, uncertain dynamic systems, sliding-mode control,switching algorithms, variable-structure systems

Abstract

A switched sliding mode control strategy for a class of nonlinearuncertain systems is presented in this paper. It is characterizedby an event-driven gain reduction mechanism which relies on adecomposition of the system state into regions. By enforcingsliding mode behaviors on a suitable set of sliding manifolds,while avoiding the generation of limit cycles, the proposedstrategy proves to globally asymptotically stabilize the origin ofthe system state space.