Journal of Systems Engineering and Electronics ›› 2009, Vol. 20 ›› Issue (4): 838-843.

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Global robust optimal sliding mode control for uncertain affine nonlinear systems

Pang Haiping & Chen Xia   

  1. Coll. of Automation and Electronic Engineering, Qingdao Univ. of Science and Technology, Qingdao 266042, P. R. China
  • Online:2009-08-14 Published:2010-01-03


The problem of robustifying linear quadratic regulators (LQRs) for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control (GROSMC) is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.