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A generalized regular form for multivariable sliding mode control

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  • W. Perruquetti
  • J. P. Richard
  • P. Borne

Abstract

The paper shows how to compute a diffeomorphic state space transformation in order to put the initial mutivariable nonlinear model into an appropriate regular form . This form is an extension of the one proposed by Lukyanov and Utkin [9], and constitutes a guidance for a “natural” choice of the sliding surface. Then stabilization is achieved via a sliding mode strategy. In order to overcome the chattering phenomenon, a new nonlinear gain is introduced.

Suggested Citation

  • W. Perruquetti & J. P. Richard & P. Borne, 2001. "A generalized regular form for multivariable sliding mode control," Mathematical Problems in Engineering, Hindawi, vol. 7, pages 1-13, January.
    • Handle: RePEc:hin:jnlmpe:535292
    DOI: 10.1155/S1024123X01001508
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