Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems

IEEE Transactions on Automatic Control

Volumn 41, Issue 7, 1996, Pages 1063-1068

  Kachroo, Pushkin ^a   Tomizuka, Masayoshi ^b  

^a VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL THEORY; CONVERGENCE OF NUMERICAL METHODS; DIFFERENTIATION (CALCULUS); ERRORS; SWITCHING; TIME VARYING CONTROL SYSTEMS; VECTORS;

CHATTERING REDUCTION; SLIDING MODE CONTROL;

NONLINEAR CONTROL SYSTEMS;

EID: 0030195855     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.508917     Document Type: Article

References (7)

1. J.-J. E. Slotine and J. A. Coetsee, "Adaptive sliding controller synthesis for nonlinear systems," Int. J. Contr., 1986.
2. J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice Hall, 1991.
3. J.-J. E. Slotine and S. S. Sastry, "Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators," Int. J. Contr., vol. 39, no. 2, 1983.
4. A. F. Fillipov, "Differential equations with discontinuous right hand sides," Mathematicheskii Sbornek, vol. 51, no. 1, 1960, in Russian;
5. translated in English, Am. Math. Soc. Trans., vol. 62, no. 199, 1964.
6. V. I. Utkin, Sliding Modes and Their Application to Variable Structure Systems. Moscow: MIR, 1978.
7. B. A. Francis and W. M. Wonham, "The internal model principle of linear multivariable regulators," Appl. Math. Optimiz., vol. 2, no. 2, pp. 170-194, 1975.