A set-valued nested sliding-mode controller - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2017

A set-valued nested sliding-mode controller


We propose a set-valued controller with a signum multifunction nested inside another one. We prove that the controller is well-posed and achieves robust ultimate boundedness in the presence of mismatched, non-vanishing disturbances. Even more, the selected output can be made arbitrarily small. Also, by applying the implicit Euler scheme introduced by Acary and Brogliato [2010], Acary et al. [2012] for matched disturbances, we derive a selection strategy for the discrete-time implementation of the set-valued control law. The discrete-time scheme diminishes chattering substantially.
Fichier principal
Vignette du fichier
Miranda_IFAC2017_nested.pdf (232.54 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01629187 , version 1 (06-11-2017)



Felix Miranda-Villatoro, Fernando Castaños, Bernard Brogliato. A set-valued nested sliding-mode controller. IFAC 2017 - The 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.2971 - 2976, ⟨10.1016/j.ifacol.2017.08.662⟩. ⟨hal-01629187⟩
93 View
105 Download



Gmail Facebook X LinkedIn More