Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems

Yasuhiko Mutoh, Nao Kogure

Abstract

This paper concerns with the sliding mode controller design method for linear time-varying systems. For this purpose, using the time-varying pole placement technique, the state feedback is designed first so that the time-varying closed loop system is equivalent to the standard linear time invariant system. Then, conventional sliding mode controller design method is applied to this time invariant system to obtain the control input. Finally, using the time-varying transformation matrix, this sliding mode control input is put back to the control input for the original system. In this paper, this controller is applied to the trajectory tracking control problem for nonlinear systems.

References

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Paper Citation


in Harvard Style

Mutoh Y. and Kogure N. (2014). Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 492-498. DOI: 10.5220/0005019704920498


in Bibtex Style

@conference{icinco14,
author={Yasuhiko Mutoh and Nao Kogure},
title={Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={492-498},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005019704920498},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems
SN - 978-989-758-039-0
AU - Mutoh Y.
AU - Kogure N.
PY - 2014
SP - 492
EP - 498
DO - 10.5220/0005019704920498