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

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

Florianópolis

Congreso; 9th IFAC Symposium on Robust Control Design (ROCOND2018); 2018

IFAC

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 to 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 underestimationof the sliding domain, the closed loop robustness and the necessary control power. Here thedesign of SM is addressed from the global optimization approach using interval arithmetic.A solution to the the analysis and synthesis problems of SM design is provided, where thenecessary and sucient conditions are fullled in a guaranteed way. For the analysis problemthe proposed methodology allows checking sliding mode behaviour over given state domainand parameter sets. For the synthesis problem, the methodology allows designing the slidingmanifold and switching logic with a given optimization criterion. The methodology is illustratedwith a concluding example.