Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An LMI Approach to Nonlinear Sliding Surface Design

비선형 슬라이딩 평면의 설계를 위한 LMI 접근법

  • 최한호 (동국대학교 서울 전자전기공학부)
  • Received : 2010.06.01
  • Accepted : 2010.10.18
  • Published : 2010.12.01
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Abstract

The problem of designing a nonlinear sliding surface for an uncertain system is considered. The proposed sliding surface comprises a linear time invariant term and an additional time varying nonlinear term. It is assumed that a linear sliding surface parameter matrix guaranteeing the asymptotic stability of the sliding mode dynamics is given. The linear sliding surface parameter matrix is used for the linear term of the proposed sliding surface. The additional nonlinear term is designed so that a Lyapunov function decreases more rapidly. By including the additional nonlinear term to the linear sliding surface parameter matrix we obtain a nonlinear sliding surface such that the speed of responses is improved. We also give a switching feedback control law inducing a stable sliding motion in finite time. Finally, we give an LMI-based design algorithm, together with a design example.

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References

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