Optimal sliding-mode control for nonlinear systems subject to acceleration constraint
一类带有加速度约束的非线性系统最优滑模控制

For nonlinear systems subject to acceleration constraint, a global optimal sliding-mode control algorithm is proposed. A global sliding-mode factor is introduced in the sliding surface design, which guarantees the sliding surface to exist in the neighborhood of the origin all the time after beginning. The parameters of the sliding surface are obtained by minimizing the integral of the absolute position tracking error which is taken as the performance criterion. The sliding-mode control algorithm is finally determined by using the exponential reaching law. Simulation results show the effectiveness and robustness of the proposed algorithm.