relation: http://eprints.imtlucca.it/1206/
title: Integral sliding mode control for nonlinear systems with matched and unmatched perturbations
creator: Rubagotti, Matteo
creator: Estrada, Antonio
creator: Castanos, Fernando
creator: Ferrara, Antonella
creator: Fridman, Leonid
subject: QA75 Electronic computers. Computer science
description: We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
publisher: IEEE 
date: 2011-11
type: Article
type: PeerReviewed
identifier:   Rubagotti, Matteo and Estrada, Antonio and Castanos, Fernando and Ferrara, Antonella and Fridman, Leonid  Integral sliding mode control for nonlinear systems with matched and unmatched perturbations.  IEEE Transactions on Automatic Control, 56 (11).  2699 -2704.  ISSN 0018-9286      (2011)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5873128&isnumber=6062566
relation: 10.1109/TAC.2011.2159420