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Article Dans Une Revue IEEE Access Année : 2019

A Special kind of Sliding Mode Control for Nonlinear System with State Constraints

Résumé

This paper presents a control strategy named auxiliary surfaces sliding mode control (AS-SMC) by using Positive Invariant Set (PIS) to control a class of continuous nonlinear systems with state constraints. The PIS can be regarded as a special kind of sliding surface, and its invariance ensures that the system state can satisfy the constraints in the convergence process. The stability analysis and a PIS theory proof are given. The control strategy is successfully tested in numerical simulations and even effectively applied to the coaxial unmanned helicopter flight control system on hardware in the loop (HIL) platform. The results verify the effectiveness of the proposed control strategy for the experimental set-up.
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Dates et versions

hal-02407009 , version 1 (04-06-2024)

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Zhi Chen, Xiaowei Tu, Li Xing, Jian Fu, Rogelio Lozano. A Special kind of Sliding Mode Control for Nonlinear System with State Constraints. IEEE Access, 2019, 7, pp.69998-70010. ⟨10.1109/ACCESS.2019.2918786⟩. ⟨hal-02407009⟩
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