Cascaded-based stabilization of time-varying systems using second-order sliding modes

Antonio Estrada (1) , Antonio Loria (2) , Raul Santiesteban (1) , Leonid Fridman (3)

1 UNAM - Universidad Nacional Autónoma de México = National Autonomous University of Mexico
2 L2S - Laboratoire des signaux et systèmes
3 Department of Postgraduate Study National Autonomous University of Mexico

We present a result on stabilization of strict feedback systems with unknown disturbances based on the so-called twisting algorithm, a second-order sliding mode controller for the double integrator. The novelty of the note relies in the stability analysis of the closed-loop system and the relaxation of stability conditions (we do not assume boundedness of trajectories). The proof of the main result is constructed along similar lines as for well-established theorems for nonlinear time-varying systems in cascade, with continuous right-hand sides. Although we restrict our analysis to second-order systems, the purpose of this note is to settle the basis for a methodological stability analysis approach for higher-order systems in strict feedback form, under the influence of uncertain perturbations. An illustrative example is provided.

Domaines: Automatique; Systèmes dynamiques [math.DS]

Antonio Estrada, Antonio Loria, Raul Santiesteban, Leonid Fridman. Cascaded-based stabilization of time-varying systems using second-order sliding modes. IMA Journal of Mathematical Control and Information, 2013, 30 (1), pp.115-128. ⟨10.1093/imamci/dns018⟩. ⟨hal-00831445⟩