Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 56, Issue 11, Pages 2699-2704Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2011.2159420
Keywords
Disturbance reduction; integral sliding mode (ISM); sliding mode control; uncertain systems
Funding
- Project FONCICYT (Fondo de Cooperation International en Ciencia y Tecnologia) [93302]
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We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
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