%I IEEE
%O American Control Conference, 
Westin Seattle Hotel, Seattle, Washington, USA
June 11-13, 2008
%T A sub-optimal second order sliding mode controller for systems with saturating actuators
%P 4715 -4720
%R 10.1109/ACC.2008.4587239
%B Proceedings of the American Control Conference, 2008
%X 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.
%D 2008
%L eprints1209
%K continuous control variable; saturating actuators; sliding variable steering; suboptimal second order sliding mode controller; actuators; variable structure systems;
%A Antonella Ferrara
%A Matteo Rubagotti