TY  - CHAP
N1  - American Control Conference, 
Westin Seattle Hotel, Seattle, Washington, USA
June 11-13, 2008
ID  - eprints1209
T2  - Proceedings of the American Control Conference, 2008
EP  - 4720
SN  - 978-1-4244-2078-0 
PB  - IEEE
A1  - Ferrara, Antonella
A1  - Rubagotti, Matteo
SP  - 4715 
N2  - In this paper, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller applied to relative degree one systems with saturating actuators is addressed. It is proved that during the sliding phase, if basic assumptions are made, the continuous control variable never saturates, while, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in finite time not always guaranteed. In the present paper, the original algorithm is modified in order to solve this problem: a new strategy is proposed, which proves to be able to steer the sliding variable to zero in a finite time in spite of the presence of saturating actuators.
Y1  - 2008/06//
KW  - continuous control variable; saturating actuators; sliding variable steering; suboptimal second order sliding mode controller; actuators; variable structure systems;
AV  - none
TI  - A sub-optimal second order sliding mode controller for systems with saturating actuators
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4587239&isnumber=4586444
ER  -