eprintid: 1206
rev_number: 8
eprint_status: archive
userid: 37
dir: disk0/00/00/12/06
datestamp: 2012-03-02 14:54:31
lastmod: 2013-09-30 12:37:55
status_changed: 2012-03-02 14:54:31
type: article
metadata_visibility: show
creators_name: Rubagotti, Matteo
creators_name: Estrada, Antonio
creators_name: Castanos, Fernando
creators_name: Ferrara, Antonella
creators_name: Fridman, Leonid
title: Integral sliding mode control for nonlinear systems with matched and unmatched perturbations
ispublished: pub
subjects: QA75
divisions: CSA
full_text_status: none
keywords: 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;
abstract: 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.
date: 2011-11
date_type: published
publication: IEEE Transactions on Automatic Control
volume: 56
number: 11
publisher: IEEE 
pagerange: 2699 -2704
id_number: 10.1109/TAC.2011.2159420
refereed: TRUE
issn: 0018-9286
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5873128&isnumber=6062566
citation:   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)