Robust sliding mode control of nonlinear systems with delay: A design via polytopic formulation

Frédéric Gouaisbaut 1 Yann Blanco 2 Jean-Pierre Richard 3, 4
3 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, Polytechnique - X, CNRS - Centre National de la Recherche Scientifique : UMR8146
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper outlines the possibility to control nonlinear uncertain systems with single, possibly time-varying state-delay. These systems are submitted to additive perturbations (possibly nonvanishing). The control is of sliding mode type and the sliding surface is designed so to maximize the calculable set of delays which do not destabilize the system. The way to deal with the nonlinear parts of the model relies on a polytopic formulation. The conditions for the existence of the sliding regime are studied by using both a Lyapunov-Krasovskii functionnal and a Lyapunov-Razumikhin function. The optmization precedure for the choice of the sliding surface is expressed in terms of LMIs. An example illustrates the proposed method.
Type de document :
Article dans une revue
International Journal of Control, Taylor & Francis, 2004, 77 (2), pp.206-215
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Contributeur : Jean-Pierre Richard <>
Soumis le : dimanche 23 mars 2008 - 22:00:00
Dernière modification le : jeudi 11 janvier 2018 - 06:27:42
Document(s) archivé(s) le : vendredi 21 mai 2010 - 00:49:48

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  • HAL Id : inria-00266509, version 1

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Frédéric Gouaisbaut, Yann Blanco, Jean-Pierre Richard. Robust sliding mode control of nonlinear systems with delay: A design via polytopic formulation. International Journal of Control, Taylor & Francis, 2004, 77 (2), pp.206-215. 〈inria-00266509〉

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