Sliding mode control design based on the state-dependent Riccati equation: theoretical and experimental implementation

• Published in: International journal of control Vol. 92; no. 9; pp. 2136 - 2149
• Main Authors: Korayem, A. H., Nekoo, S. R., Korayem, M. H.
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 02.09.2019; Taylor & Francis Ltd
• Subjects: Differential equations; Feedback control; integral sliding surface; Integrals; Nonlinear systems; Riccati equation; Robot arms; Robust control; SDDRE; SDRE; Sliding mode control; Suboptimal sliding mode controller; Uncertainty

In this paper, a suboptimal sliding mode control method is derived from combination of the sliding mode control (SMC) and the state-dependent Riccati equation (SDRE) technique, applied for a class of nonlinear closed-loop systems. One of the distinguished features of this control method is its robus...