eprintid: 1209
rev_number: 14
eprint_status: archive
userid: 37
dir: disk0/00/00/12/09
datestamp: 2012-03-02 15:42:26
lastmod: 2013-09-30 12:25:51
status_changed: 2012-03-02 15:42:26
type: book_section
metadata_visibility: show
creators_name: Ferrara, Antonella
creators_name: Rubagotti, Matteo
title: A sub-optimal second order sliding mode controller for systems with saturating actuators
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
keywords: continuous control variable; saturating actuators; sliding variable steering; suboptimal second order sliding mode controller; actuators; variable structure systems;
note: American Control Conference, 
Westin Seattle Hotel, Seattle, Washington, USA
June 11-13, 2008
abstract: 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.
date: 2008-06
date_type: published
publisher: IEEE
pagerange: 4715 -4720
event_title: American Control Conference, 2008
id_number: 10.1109/ACC.2008.4587239
refereed: TRUE
isbn: 978-1-4244-2078-0 
book_title: Proceedings of the American Control Conference, 2008
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4587239&isnumber=4586444
citation:   Ferrara, Antonella and Rubagotti, Matteo  A sub-optimal second order sliding mode controller for systems with saturating actuators.   In:  Proceedings of the American Control Conference, 2008.   IEEE, 4715 -4720.  ISBN 978-1-4244-2078-0       (2008)