Robust Positively Invariant Cylinders in Constrained Variable Structure Control

This paper proposes the use of cylinders as primary invariant sets to be used in certain state-constrained control designs. Following the idea originally introduced by O'Dell, the primary invariant set is intersected with the state constraints to yield sets which retain the invariance under some conditions. Although several results presented here apply to fairly general nonlinear systems and primary invariant sets of any shape, the focus is on constrained sliding-mode control (SMC) using infinite cylinders as the primary invariant set. Their use is motivated by a coordinate transformation where the sliding motion is decoupled from the overall convergence to the origin. Robust positive invariance conditions are given for cylinders having convex and compact cross sections. For the case of cylinders with ellipsoidal cross sections, the invariance condition is given in the form of a linear matrix inequality. Further, a decision procedure to qualify each state constraint is given as a tool for the selection of the switching gain. A numerical example for a third-order plant illustrates the method.