Title: Hybrid sliding mode control for multi-input nonlinear systems (1 hour)
Abstract: The purpose of this talk is to present a framework for the design of multi-input hybrid sliding mode controllers. In this framework the control effort goes to zero as the state approaches the sliding surface, a key feature for practical implementation. The sliding surface is a submanifold with codimension equal to the dimension of the involutive distribution G generated by the controlled vector fields rather than the dimension of their linear span. We also allow nonzero vectors in G to be tangent to the sliding surface, the singular case in sliding mode control.