Title :
Maneuvering dynamical systems by sliding-mode control
Author :
Skjetne, Roger ; Teel, Andrew R.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fDate :
June 30 2004-July 2 2004
Abstract :
Solving a tracking task as a maneuvering problem for dynamical systems has shown to be a flexible design methodology, having many advantages over pure trajectory tracking and path following designs. We give a constructive design for solving the maneuvering problem by sliding-mode control. A motivational example with a simulation is used to illustrate the achieved performance.
Keywords :
control system synthesis; gradient methods; optimisation; position control; tracking; uncertain systems; variable structure systems; flexible design methodology; gradient optimization; maneuvering dynamical systems; path following design; sliding mode control; trajectory tracking design; uncertain dynamical systems;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
