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Integral sliding mode control of an extended Heisenberg system

Michael Defoort 1 Thierry Floquet 2, 3, * Wilfrid Perruquetti 1, 2 Serguey Drakunov 4
* Corresponding author
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper deals with the practical robust stabilization and tracking problems of the perturbed multidimensional Heisenberg system with some additional integrators in the control input path. This objective is achieved by the use of variable structure control laws with an integral augmented sliding variable. This note shows how to select the integral sliding surface in such a way that the practical stabilization of the extended Heisenberg system is achieved in spite of the uncertainties and without loss of controllability. Experimental results on a wheeled mobile robot show the performance of the proposed controller for the practical stabilization and tracking problems.
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Michael Defoort, Thierry Floquet, Wilfrid Perruquetti, Serguey Drakunov. Integral sliding mode control of an extended Heisenberg system. IET Control Theory and Applications, Institution of Engineering and Technology, 2009, 3 (10), pp.1409-1424. ⟨10.1049/iet-cta.2007.0480⟩. ⟨inria-00366042⟩

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