A Unifying Characterization of Robust Sliding Mode Control: A Lyapunov Approach

[+] Author and Article Information
R. A. DeCarlo

School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-1285e-mail: decarlo@ecn.purdue.edu

S. V. Drakunov

Department of Electrical and Computer Engineering, Tulane University, New Orlenas, LA 70118-5674e-mail: drakunov@mailhost.tcs.tulane.edu

Xiaoqiu Li

School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-1285

J. Dyn. Sys., Meas., Control 122(4), 708-718 (Jan 31, 2000) (11 pages) doi:10.1115/1.1321267 History: Received January 31, 2000
Copyright © 2000 by ASME
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Grahic Jump Location
Componentwise discontinuous design. Φaug=0 ordinarily rotates with x and t.
Grahic Jump Location
Illustration of the simplex algorithm design for m=2
Grahic Jump Location
Circumference of circle with center u(x,t) and radius ρ(x,t) must lie in the region Φ(x,t)<0
Grahic Jump Location
Design using unit vector normal to Φaug=0
Grahic Jump Location
Illustration of the control simplex and the decision manifold
Grahic Jump Location
Illustration of the rotation of the nominal decision manifold




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