89 citations · 127 across the 12 of their papers we have counts for
16 papers
On the Notion of Safe Sliding Mode Control
Marco A. Gomez, Christopher D. Cruz-Ancona, Leonid Fridman
Within the framework of Sliding Mode Control, safety critical control looks at two problems of theoretical significance: construct a sliding manifold that does not intersect a give…
Sensitivity analysis and experimental evaluation of PID-like continuous sliding mode control
Michael Ruderman, Johann Reger, Benjamin Calmbach +1
Continuous higher order sliding mode (CHOSM) controllers represent an efficient tool for disturbance rejection. For the systems with relative degree r, CHOSM approaches provide the…
Barrier Function-Based Adaptive Continuous Higher-Order Sliding Mode Controllers with Unbounded Perturbations
Yacine Chitour, Hussein Obeid, Salah Laghrouche +1
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded…
Analysis of relay-based feedback compensation of Coulomb friction
Michael Ruderman, Leonid Fridman
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulo…
Multivariable Super-Twisting Algorithm for Systems with Uncertain Input Matrix and Perturbations
Jaime A. Moreno, Hector Riosand Luis Ovalle, Leonid Fridman
This paper proposes a Lyapunov approach to the design of a multivariable generalized Super-Twisting algorithm (MGSTA), which is able to control a system with perturbations and unce…
Super Twisting based Lyapunov Redesign for Uncertain Linear Delay Systems
Marco A. Gomez, Christopher D. Cruz-Ancona, Leonid Fridman
We present a new continuous Lyapunov Redesign (LR) methodology for the robust stabilization of a class of uncertain time-delay systems that is based on the so-called Super Twisting…
A uniform reaching phase strategy in adaptive sliding mode control
Christopher D. Cruz-Ancona, Leonid Fridman, Hussein Obeid +1
In adaptive sliding mode control methods, an updating gain strategy associated with finite-time convergence to the sliding set is essential to deal with matched bounded perturbatio…
An arbitrary-order predefined-time exact differentiator for signals with exponential growth bound
David Gómez-Gutiérrez, Rodrigo Aldana-López, Richard Seeber +2
There is a growing interest in differentiation algorithms that converge in fixed time with a predefined Upper Bound on the Settling Time (UBST). However, existing differentiation a…
Robust Orbital Stabilization: A Floquet Theory-based Approach
Christian Fredrik Sætre, Anton S. Shiriaev, Leonid B. Freidovich +2
The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback ext…
Robust exact differentiators with predefined convergence time
Richard Seeber, Hernan Haimovich, Martin Horn +2
The problem of exactly differentiating a signal with bounded second derivative is considered. A class of differentiators is proposed, which converge to the derivative of such a sig…
Chattering analysis of Lipschitz continuous sliding-mode controllers
C. Arturo Martínez-Fuentes, Ulises Pérez Ventura, Leonid Fridman
Lipschitz continuous sliding-mode controllers (LCSMC) are developed as the integral of discontinuous SMC, producing control signals of finite slope. Nevertheless, LCSMC still gener…
A Lyapunov Approach to Barrier-Function Based Time-Varying Gains Higher Order Sliding Mode Controllers
Salah Laghrouche, Mohamed Harmouche, Yacine Chitour +2
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertaintie…
Barrier function-Based Variable Gain Super-Twisting Controller
Hussein Obeid, Salah Laghrouche, Leonid Fridman +2
In this paper, a variable gain super-twisting algorithm based on a barrier function is proposed for a class of first order disturbed systems with uncertain control coefficient and…
Non-Uniform Stability, Detectability, and, Sliding Mode Observer Design for Time Varying Systems with Unknown Inputs
Markus Tranninger, Sergiy Zhuk, Martin Steinberger +2
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and s…
Is It Reasonable to Substitute Discontinuous SMC by Continuous HOSMC?
Ulises Pérez-Ventura, Leonid Fridman
Professor Utkin in his discussion paper proposed an example showing that the amplitude of chattering caused by the presence of parasitic dynamics in systems governed by First-Order…
Pole-placement in higher-order sliding-mode control
Debbie Hernández, Fernando Castaños, Leonid Fridman
We show that the well-known formula by Ackermann and Utkin can be generalized to the case of higher-order sliding modes. By interpreting the eigenvalue assignment of the sliding dy…