Linearization-Based Integral Sliding Mode Control for a Class of Constrained Nonlinear Systems

In this paper a sliding mode control approach is proposed for the regulation of nonlinear systems with an equal number of states and inputs, and state and control constraints. Under the assumptions that the input matrix is invertible and the disturbances are bounded, such regulation is performed robustly, solving only single-input sliding mode control problems and optimization tasks. Generalizing the concept, a switched policy is proposed to better exploit the available control authority. Two different algorithms (one online and one offline) are proposed, analyzing the pros and cons of each of them. The resulting scheme is suitable for applications such as those of automotive type, where nonlinearities and constraints are the major source of complexity. A simplified version of an automotive control problem is used as a case study in order to validate the approach.