Robust sliding mode control with unidirectional auxiliary surfaces for nonlinear system with state constraints

Abstract

The sliding mode control with unidirectional auxiliary surfaces(UAS-SMC) is proposed for a class of nonlinear systems with state constraints.And the unidirectional auxiliary surfaces(UAS) are designed by the state constraints.By using the UAS to constitute the boundaries of the positive invariant sets,the constraints of the system states are guaranteed.The stability of the system and the invariant sets which consist of the UAS are proved.The simulation results show the effectiveness of the proposed method.