CUED Publications database

A set-valued nested sliding-mode controller

Miranda-Villatoro, FA and Castaños, F and Brogliato, B (2017) A set-valued nested sliding-mode controller. IFAC-PapersOnLine, 50. pp. 2971-2976.

Full text not available from this repository.


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.

Item Type: Article
Divisions: Div F > Control
Depositing User: Unnamed user with email
Date Deposited: 30 Oct 2017 20:09
Last Modified: 09 Sep 2021 02:13
DOI: 10.1016/j.ifacol.2017.08.662