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...
|Journal Title:||Journal of Dynamic Systems, Measurement, and Control Vol. 134; no. 2|
|Authors:||Hashem Ashrafiuon, Mehdi Nikkhah, Sergey Nersesov, Kenneth R. Muske|