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Title: Controller design for a class of nonlinear multi-input systems using modified sliding mode
Authors: Xu, J.-X. 
Lee, T.H. 
He, C.
Issue Date: 1997
Citation: Xu, J.-X.,Lee, T.H.,He, C. (1997). Controller design for a class of nonlinear multi-input systems using modified sliding mode. International Journal of Systems Science 28 (8) : 777-789. ScholarBank@NUS Repository.
Abstract: A modified sliding mode controller with continuous switching is proposed for a class of nonlinear multi-input systems. The control design consists of first choosing a set of suitable sliding sectors, instead of conventional sliding surfaces, then constructing a continuous switching controller. It is shown that the global attractiveness and stability of the sliding sectors are guaranteed with the continuous switching control strategy. While retaining the robustness property of general sliding mode control, the modified sliding mode controller provides much smoother control signals. Trajectory control of a two-link robot and set point control of a nonlinear two-input system are investigated to show the effectiveness of the new method.
Source Title: International Journal of Systems Science
ISSN: 00207721
Appears in Collections:Staff Publications

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