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http://dx.doi.org/10.5302/J.ICROS.2009.15.8.812

Sliding Surface Design by Eigenstructure Assignment and Sliding Mode Control of Matched Uncertain Systems  

Lee, Tae-Bong (경원대학교 전자정보통신공학부)
Yang, Hyun-Suk (홍익대학교 전자전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.8, 2009 , pp. 812-817 More about this Journal
Abstract
In this paper, a new method to design sliding surfaces using eigenstructure assignment is proposed. Most conventional methods for constructing the surfaces require special form like canonical or regular canonical form of system matrices. But the proposed method can be applied to arbitrary system matrices. Futhermore, the surface matrix, C can be decided for the matrix multiplication, CB to have a designated form. SVD is used to decide desirable eigenvectors explicitly. To verify the proposed algorithm, a sliding mode controller for a multivariable system with matched uncertainty is constructed. The controller is designed to guarantee minimum approach velocity to the sliding surface.
Keywords
sliding mode controller; sliding surface; SVD (Singular Value Decomposition);
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