TY - JOUR SP - 2699 N2 - 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. Y1 - 2011/11// VL - 56 PB - IEEE AV - none IS - 11 TI - Integral sliding mode control for nonlinear systems with matched and unmatched perturbations UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5873128&isnumber=6062566 EP - 2704 JF - IEEE Transactions on Automatic Control ID - eprints1206 KW - disturbance term reduction; dynamically feedback linearized unicycle; input matrix; integral sliding mode control; matched perturbations; nonholonomic constraints; nonlinear systems; state-dependent drift; unmatched perturbations;control system synthesis;feedback;linear systems;matrix algebra;nonlinear control systems;variable structure systems; A1 - Rubagotti, Matteo A1 - Estrada, Antonio A1 - Castanos, Fernando A1 - Ferrara, Antonella A1 - Fridman, Leonid SN - 0018-9286 ER -