A study of SDRE and ISMC combined scheme with application to vehicle brake control

Issues regarding robust stabilization of a class of nonlinear uncertain systems using a combined scheme are addressed. This scheme consists of the State Dependent Riccati Equation (SDRE) technique for the control of nominal system, and the Integral Sliding Mode Control (ISMC) strategy which compensa...

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Bibliographic Details
Main Authors: Yew-Wen Liang, Yuan-Tin Wei, Der-Cherng Liaw, Chiz-Chung Cheng, Li-Gang Lin
Format: Conference Proceeding
Language:English
Subjects:
integral sliding mode control
Manifolds
Robust stabilization
Robustness
state dependent Riccati equations
Trajectory
Uncertain systems
Uncertainty
Vehicles
Wheels
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Summary:Issues regarding robust stabilization of a class of nonlinear uncertain systems using a combined scheme are addressed. This scheme consists of the State Dependent Riccati Equation (SDRE) technique for the control of nominal system, and the Integral Sliding Mode Control (ISMC) strategy which compensates the error when the system state deviates from the nominal system's trajectory. It is shown that the state of the uncertain system using the combined scheme and that of the nominal system under the SDRE scheme are exactly the same when the uncertainties are matched type. These analytic results are also applied to the brake control of a three-wheeled vehicle. Simulation results demonstrate the benefits of the proposed scheme.