A study of SDRE and ISMC combined scheme with application to vehicle brake control

Yew Wen Liang, Yuan Tin Wei, Der Cherng Liaw, Chiz Chung Cheng, Li Gang Lin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


Issues regarding robust stabilization of a class of nonlinear uncertain systems using a combined scheme are addressed. This scheme consists of the State Dependent Riccati Equation (SDRE) technique for the control of nominal system, and the Integral Sliding Mode Control (ISMC) strategy which compensates the error when the system state deviates from the nominal system's trajectory. It is shown that the state of the uncertain system using the combined scheme and that of the nominal system under the SDRE scheme are exactly the same when the uncertainties are matched type. These analytic results are also applied to the brake control of a three-wheeled vehicle. Simulation results demonstrate the benefits of the proposed scheme,.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)9784907764364
StatePublished - 2010

Publication series

NameProceedings of the SICE Annual Conference


  • Integral sliding mode control
  • Robust stabilization
  • State dependent riccati equations


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