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Integral sliding mode in systems operating under uncertainty conditions
Abstract
The paper generalized a new sliding mode design concept, namely integral sliding mode (ISM). The order of the motion equation in ISM is equal to the order of the original system, rather than reduced by the number of dimension of the control input. As the result, robustness of the system can be guaranteed throughout an entire response of the system starting from the initial time instance. Uniform formulations of the ISM design principle are developed in the paper. It is shown through examples that our generalized ISM scheme enables a wide scope of application areas. In the case that the given control matrix can not be used directly for generating the sliding mode, the associated decoupling problem was also discussed based on the concept of sliding mode transformation. To alleviate chattering, we remove the discontinuous control action from the real control path and insert it to an internal dynamic process for generating the sliding mode.
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Cited by
A class of predefined-time stable dynamical systems
Sánchez-Torres, J. D., Gómez-Gutiérrez, D., López, E., & Loukianov, A. G. (2018) · IMA Journal of Mathematical Control and Information · doi:10.1093/imamci/dnx004 · Cited by 570
Higher order sliding mode control based on integral sliding mode
Laghrouche, S., Plestan, F., & Glumineau, A. (2007) · Automatica · doi:10.1016/j.automatica.2006.09.017 · Cited by 444
Rubagotti, M., Raimondo, D. M., Ferrara, A., & Magni, L. (2011) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2010.2074590 · Cited by 196
Khan, S., Bendoukha, S., Naeem, W., & Iqbal, J. (2019) · Advances in Electrical and Electronic Engineering · doi:10.15598/aeee.v17i3.3031 · Cited by 13
Metadata
- Authors
- Utkin, V., & Shi, J.
- Venue
- Proceedings of 35th IEEE Conference on Decision and Control
- Publisher
- IEEE
- Published
- 2002-12-24
- Volume
- 4
- Pages
- 4591-4596
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W1960613717
- Cited by
- 927
- References
- 0
- FWCI
- 10.59
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Integral sliding mode in systems operating under uncertainty conditions. https://app.cochat.ai/papers/10.1109/cdc.1996.577594
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- Utkin, V., & Shi, J. (2002). Integral sliding mode in systems operating under uncertainty conditions. Proceedings of 35th IEEE Conference on Decision and Control. https://doi.org/10.1109/cdc.1996.577594
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