Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems

This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure is used to optimally select and update the parameters of the sliding mode control surfaces at specifie...

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Journal Title: Journal of Dynamic Systems, Measurement, and Control Vol. 134; no. 2
Authors: Hashem Ashrafiuon, Mehdi Nikkhah, Sergey Nersesov, Kenneth R. Muske
Format: Article
Language: English
Published: March 2012