Saturated sliding mode control with limited magnitude and rate

• Published in: IET control theory & applications Vol. 12; no. 8; pp. 1075 - 1085
• Main Authors: Wang, Siyi, Gao, Yabing, Liu, Jianxing, Wu, Ligang
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 22.05.2018
• Subjects: actuator saturation; actuators; attraction domain; closed loop systems; control system synthesis; invariance; invariant set; known bounded uncertainties; optimisation; optimisation conditions; rate limitation; Research Article; saturated sliding mode control design; set theory; stability; stability analysis; standard magnitude limitation; uncertain systems; unknown bounded uncertainties; variable structure systems; uncertain systems; stability analysis; known bounded uncertainties; invariant set; control system synthesis; unknown bounded uncertainties; set theory; optimisation conditions; closed loop systems; optimisation; saturated sliding mode control design; actuators; standard magnitude limitation; invariance; actuator saturation; attraction domain; closed-loop systems; variable structure systems; stability; rate limitation
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2017.1081

This study is concerned with the sliding mode control design subject to actuator saturation. The actuator saturation is formulated with the rate limitation and the standard magnitude limitation. Both the saturated sliding mode control approaches against the known and the unknown bounded uncertainties are discussed. The stability analysis for the resulting overall closed-loop systems is conducted. Moreover, several optimisation conditions are established to estimate the attraction domain of the saturated system under the designed controllers, by determining the invariant set of the system. Finally, simulation examples are shown to illustrate the proposed control design scheme.