Skip to Main content Skip to Navigation
Conference papers

A set-valued nested sliding-mode controller

Felix Miranda-Villatoro 1 Fernando Castaños 1 Bernard Brogliato 2
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann
Abstract : We propose a set-valued controller with a signum multifunction nested inside another one. We prove that the controller is well-posed and achieves robust ultimate boundedness in the presence of mismatched, non-vanishing disturbances. Even more, the selected output can be made arbitrarily small. Also, by applying the implicit Euler scheme introduced by Acary and Brogliato [2010], Acary et al. [2012] for matched disturbances, we derive a selection strategy for the discrete-time implementation of the set-valued control law. The discrete-time scheme diminishes chattering substantially.
Complete list of metadata

Cited literature [20 references]  Display  Hide  Download

https://hal.inria.fr/hal-01629187
Contributor : Bernard Brogliato <>
Submitted on : Monday, November 6, 2017 - 10:24:43 AM
Last modification on : Tuesday, May 11, 2021 - 11:37:34 AM

File

Miranda_IFAC2017_nested.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Felix Miranda-Villatoro, Fernando Castaños, Bernard Brogliato. A set-valued nested sliding-mode controller. IFAC 2017 - The 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.2971 - 2976, ⟨10.1016/j.ifacol.2017.08.662⟩. ⟨hal-01629187⟩

Share

Metrics

Record views

617

Files downloads

962