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Maneuvering dynamical systems by sliding-mode control

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2 Author(s)
Skjetne, R. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Teel, A.R.

Solving a tracking task as a maneuvering problem for dynamical systems has shown to be a flexible design methodology, having many advantages over pure trajectory tracking and path following designs. We give a constructive design for solving the maneuvering problem by sliding-mode control. A motivational example with a simulation is used to illustrate the achieved performance.

Published in:

American Control Conference, 2004. Proceedings of the 2004  (Volume:2 )

Date of Conference:

June 30 2004-July 2 2004