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Saleh Mobayen

Mobayen, S.
Design of LMI-based sliding mode controller with an exponential policy for a class of under-actuated systems
طراحی کنترلر مد لغزشی LMI با رفتار نمایی برای دسته ای از سامانه های زیر تحریک

In this paper, a novel sliding mode control (SMC) approach is proposed for the control of a class of under-actuated systems which are featured as in cascaded form with external disturbances. The Asymptotic stability conditions on the error dynamical system are expressed in the form of linear matrix inequalities (LMIs). The control objective is to construct a controller such that would force the state trajectories to approach the sliding surface with an exponential policy. The proposed SMC has a simple structure because it is derived from the associated first-order differential equation and is capable of handling system disturbances and nonlinearities. The effectiveness of the proposed control method is validated using intensive simulations.



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