A global optimization approach for non-linear sliding mode control analysis and design

MONNET, DOMINIQUE; ROSENDO, JUAN LUIS; BATTISTA, HERNÁN DE; CLEMENT, BENOIT; NININ, JORDAN; GARELLI, FABRICIO

IFAC-PapersOnLine

Elsevier

Lugar: Amsterdam; Año: 2018 vol. 51 p. 128 - 133

2405-8963

The design of sliding mode (SM) comprises the selection of a sliding manifold onthe state space and a switching logic. The sliding manifold design is associated with the desireddynamics and closed loop specications, whereas the switching logic is designed to drive and keepthe state on the prescribe manifold. The classical design can lead to over or underestimation ofthe sliding domain, the closed loop robustness and the necessary control power. Here the designof SM is addressed from the global optimization approach using interval arithmetic. A solution tothe analysis and synthesis problems of SM design is provided, where the necessary and sucientconditions are fullled in a guaranteed way. For the analysis problem the proposed methodologyallows checking sliding mode behaviour over given state domain and parameter sets. For thesynthesis problem, the methodology allows designing the sliding manifold and switching logicwith a given optimization criterion. The methodology is illustrated with a concluding example.