Title :
Singular sliding-mode control
Author_Institution :
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
fDate :
2/1/2001 12:00:00 AM
Abstract :
Studies sliding-mode control where the usual regularity assumptions need not hold. In particular, we allow “singular submanifolds” near which the state trajectory cannot be steered toward the sliding surface. For nonlinear systems whose singular submanifold satisfies suitable transversality conditions, we identify a class of smooth output functions which can be asymptotically or approximately tracked using a globally defined discontinuous controller
Keywords :
nonlinear control systems; observability; sampled data systems; state feedback; variable structure systems; globally defined discontinuous controller; singular sliding-mode control; singular submanifolds; smooth output functions; state trajectory; transversality conditions; Adaptive control; Control systems; Helium; Nonlinear control systems; Nonlinear systems; Observability; Open loop systems; Sliding mode control; State feedback; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
