Saturated Lipschitz Continuous Sliding Mode Controller for Perturbed Systems with Uncertain Control Coefficient

Carlos Arturo Martínez-Fuentes, Richard Seeber, Leonid Fridman, Jaime A. Moreno

Research output: Contribution to journalArticle

Abstract

In this paper, a Lipschitz continuous sliding mode controller is proposed to stabilize an integrator chain with a saturated control input, Lipschitz continuous perturbations, and an unknown control coefficient. The proposed controller ensures global finite-time convergence to the sliding surface by means of a control signal that is Lipschitz continuous (i.e., has finite gain) and is bounded by a given actuator limit. Stability conditions for the controller's tuning parameters are derived and the effectiveness of the approach is demonstrated in the course of a numerical simulation.
Original languageEnglish
Number of pages6
JournalIEEE Transactions on Automatic Control
DOIs
Publication statusE-pub ahead of print - 2020

Keywords

  • Sliding-mode control
  • Uncertain systems
  • Saturation

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