In this note the second-order sliding-mode control problem is addressed and solved by explicitly taking into account the presence of measurement error with unknown upper bound δ. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order O(τ2)+O(δ), τ being the sampling interval. Simulations highlight the effectiveness of the proposed approach and confirm the expected precision order.
An improved second-order sliding mode control scheme robust against the measurement noise
PISANO, ALESSANDRO;USAI, ELIO
2003-01-01
Abstract
In this note the second-order sliding-mode control problem is addressed and solved by explicitly taking into account the presence of measurement error with unknown upper bound δ. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order O(τ2)+O(δ), τ being the sampling interval. Simulations highlight the effectiveness of the proposed approach and confirm the expected precision order.
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