TY - GEN
T1 - First-order sliding mode control for second order systems with asymmetric constraints
AU - Mireles-Perez, Caridad
AU - Gomez-Correa, Manuela
AU - Cruz-Ortiz, David
AU - Ballesteros, Mariana
AU - Salgado, Ivan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This manuscript proposes a first-order sliding mode controller for tracking tasks applied to second-order nonlinear systems subjected to asymmetric state restrictions. The stability proof employs an asymmetric Barrier Lyapunov function to ensure the fulfillment of the state restrictions and the finite-time convergence of the trajectories towards the siding surface despite the presence of matched uncertainties and unmodeled dynamics. Consequently, the tracking error has an asymptotically stable equilibrium point. Numerical simulations compare this proposal against classical control techniques.
AB - This manuscript proposes a first-order sliding mode controller for tracking tasks applied to second-order nonlinear systems subjected to asymmetric state restrictions. The stability proof employs an asymmetric Barrier Lyapunov function to ensure the fulfillment of the state restrictions and the finite-time convergence of the trajectories towards the siding surface despite the presence of matched uncertainties and unmodeled dynamics. Consequently, the tracking error has an asymptotically stable equilibrium point. Numerical simulations compare this proposal against classical control techniques.
UR - http://www.scopus.com/inward/record.url?scp=85146488021&partnerID=8YFLogxK
U2 - 10.1109/ICSC57768.2022.9993921
DO - 10.1109/ICSC57768.2022.9993921
M3 - Contribución a la conferencia
AN - SCOPUS:85146488021
T3 - 2022 10th International Conference on Systems and Control, ICSC 2022
SP - 227
EP - 232
BT - 2022 10th International Conference on Systems and Control, ICSC 2022
A2 - Mehdi, Driss
A2 - Outbib, Rachid
A2 - El-Hajjaji, Ahmed
A2 - Busvelle, Eric
A2 - Noura, Hassan
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th International Conference on Systems and Control, ICSC 2022
Y2 - 23 November 2022 through 25 November 2022
ER -