Accession Number:

ADA188278

Title:

Stable, Robust Tracking by Sliding Mode Control,

Descriptive Note:

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE LAB FOR INFORMATION AND DECISION SYSTEMS

Personal Author(s):

• Verghese, George C.
• Fernandez, Benito
• Hedrick, J. K.

Report Date:

1987-05-01

Pagination or Media Count:

13.0

Abstract:

Sliding mode control is examined from the perspective of obtaining stable and robust tracking of an arbitrary time-varying reference by a multi-input-output, linear, time-invariant system driven by a certain class of bounded errors, nonlinearities and disturbances. Most exciting schemes for such systems are subsumed by the one presented here. The results are developed via the use of inverse models, and make clear the constraints imposed by the finite and infinite zero structure of the system. In particular, stable and robust tracking is shown to be obtained by the scheme in this paper if and only if the system is minimum phase. Keywords include Sliding modes, Variable structure systems, Tracking, Robust control, Inverse models, and Zeros.

Descriptors:

• *CONTROL
• *SLIDING
• *TRACKING
• *VARIABLES
• ERRORS
• INVARIANCE
• INVERSION
• MODELS
• TIME
• VARIATIONS

Subject Categories:

• Numerical Mathematics
• Miscellaneous Materials

Distribution Statement:

APPROVED FOR PUBLIC RELEASE