Continuous Integral Sliding Mode Control for Systems With State and Input Constraints

This is the authors' abstract. We don't add key points for this paper.

This contribution presents a continuous integral sliding mode methodology for disturbed linear time-invariant systems with input and state asymmetric constraints affected by matched disturbances. This methodology preserves the nominal behavior of a system generated by a saturated nominal control law in finite time. It generates a bounded continuous control signal that satisfies the asymmetric constraints and compensates for the effects of matched bounded Lipschitz asymmetric disturbances in finite time. The proposed approach ensures that the state fulfils the constraints from the initial time. It is shown that when the initial conditions are outside the state constraints, the system solution converges to the constrained set. Simulations and experimental validation illustrate the applicability of the proposed approach.