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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Design of Sliding Mode Controller with Actuator Saturation
verfasst von : Deepak Fulwani, Bijnan Bandyopadhyay
Erschienen in: Advances in Sliding Mode Control
Verlag: Springer Berlin Heidelberg
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This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems. The first approach uses an ARE based approach to design the sliding surface and the second approach uses the parametric Lyapunov equation to design the surface. These methods are based on the low gain approach proposed by Lin et al. The design methods give a surface matrix as a function of the designed parameter. This parameter can be modulated to reduce the control amplitude which ensures that the control limits are respected in a region of the state space. This region can be made sufficiently large by choosing appropriate values of the design parameter.