A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints.
Matteo RubagottiGian Paolo IncremonaAntonella FerraraPublished in: CDC (2018)
Keyphrases
- control law
- sliding mode
- linear systems
- control theory
- dynamical systems
- variable structure
- closed loop
- control strategy
- control algorithm
- trajectory tracking
- control system
- nonlinear systems
- stability analysis
- control scheme
- adaptive control
- sliding mode controller
- state space
- sufficient conditions
- sliding mode control
- tracking error
- lyapunov function
- pid controller
- motion planning
- optimal control
- robot manipulators
- linear model
- dynamic systems
- learning algorithm
- global optimization
- autonomous robots
- differential equations
- dynamic model
- lyapunov stability