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An improved second-order sliding-mode control scheme robust against the measurement noise

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3 Author(s)
Bartolini, G. ; Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Italy ; Pisano, A. ; Usai, E.

In this note, the second-order sliding-mode control problem is tackled 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(δ). Simulations highlight the robustness and good performance of the proposed approach, and confirm the expected precision order.

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Automatic Control, IEEE Transactions on  (Volume:49 ,  Issue: 10 )