Analysis of nonlinear variable-structure systems with second-order sliding-modes and dynamic actuators
| Authors: | Pisano Alessandro, University of Cagliari, Italy
Boiko Igor, SNC Lavalin, Canada
Fridman Leonid, National Autonomous University of Mexico, Mexico
Orani Nicola, University of Cagliari, Italy
Usai Elio, University of Cagliari, Italy |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Advances in High Order Sliding Mode Control |
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| Keywords: | Sliding-mode control, variable structure systems, limit cycles, uncertain systems, nonlinear systems. |
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Abstract
A class of uncertain systems nonlinear in the input variable and driven by a dynamic actuator device is dealt with. Wegive sufficient conditions under which the feedback controller based on the "Sub-optimal" second-order sliding-modecontrol algorithm can guarantee the attainment of a boundary layer of the sliding manifold. The relationship between theactuator parameters and the size of the boundary layer is investigated. We discuss about the possible ways for estimating,or even shaping, the parameters of the periodic limit cycles that may occur in the steady-state within the boundary layer.A simulation example is given that confirm the results of the proposed analysis.
