5 papers · 1 filter
Safe Sliding Mode Control in Position for Double Integrator Systems
Marco A. Gomez, Christopher D. Cruz-Ancona
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to cons…
Perturbed Integrators Chain Control via Barrier Function Adaptation and Lyapunov Redesign
Manuel A. Estrada, Claudia A. Pérez-Pinacho, Christopher D. Cruz-Ancona +1
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates t…
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…
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…