eprintid: 1229
rev_number: 7
eprint_status: archive
userid: 37
dir: disk0/00/00/12/29
datestamp: 2012-03-07 10:51:31
lastmod: 2013-09-30 12:32:32
status_changed: 2012-03-07 10:51:31
type: article
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: TJ
divisions: CSA
full_text_status: none
keywords: continuous control variable; finite time; saturating actuators; sliding phase; suboptimal second order sliding mode controller; actuators; continuous systems; suboptimal control; variable structure systems
abstract: In this technical note, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller, applied to 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. On the contrary, during the reaching phase, the presence of saturating actuators can make the steering of the sliding variable to zero in a finite time not always guaranteed. In the present technical note, 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: 2009-05
date_type: published
publication: IEEE Transactions on Automatic Control 
volume: 54
number: 5
publisher: IEEE 
pagerange: 1082 -1087
id_number: 10.1109/TAC.2008.2010992
refereed: TRUE
issn: 0018-9286
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4908941&isnumber=4919221
citation:   Ferrara, Antonella and Rubagotti, Matteo  A sub-optimal second order sliding mode controller for systems with saturating actuators.  IEEE Transactions on Automatic Control , 54 (5).  1082 -1087.  ISSN 0018-9286      (2009)