TY  - CHAP
EP  - 990
T2  - Proceedings of the American Control Conference (ACC), 2010 
N1  - American Control Conference
Marriott Waterfront, Baltimore, MD, USA
June 30-July 02, 2010
ID  - eprints1217
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5530711&isnumber=5530425
AV  - none
TI  - Second order sliding mode control of a perturbed double integrator with state constraints
Y1  - 2010///
KW  - Control systems
KW  -  Convergence
KW  -  Manifolds
KW  -  Mechanical systems
KW  -  Motion control
KW  -  Optimal control
KW  -  Robust control
KW  -  Sliding mode control
KW  -  Testing
KW  -  Uncertainty 
SP  - 985 
N2  - This paper introduces a second order sliding mode controller for double integrators subject to external disturbances and model uncertainties, with both control and state constraints. The proposed control strategy proves to be able to robustly steer the system state to zero in a finite time, fulfilling the state constraints in spite of the uncertainties, provided that the initial state is inside a given region. The effectiveness of the proposal is then tested on a simulation example.
A1  - Rubagotti, Matteo
A1  - Ferrara, Antonella
SN  - 978-1-4244-7426-4 
PB  - IEEE
ER  -