arXiv subjects

Leonid Freidovich

Publications and source records attributed to Leonid Freidovich.

2 recordsLinked to original sources

arXiv2026

Input-to-State Stability of Reset-Integral Sliding Mode Control for Linear Systems

This work presents a stability analysis of a hybrid control system integrating a reset controller (RC) featuring a single reset state with an integral sliding-mode controller (ISMC). It is shown that the reachability of the sliding surface is decoupled from the nominal reset mechanism. This decoupling property enables a Lyapunov-based stability analysis, demonstrating that the closed-loop RC-ISMC system achieves input-to-state stability (ISS) and uniform ultimate boundedness (UUB) in the presence of exogenous references and disturbances. Furthermore, global asymptotic stability (GAS) is recovered in the unperturbed regulation scenario. A numerical case study illustrates the theoretical results.

eess.SY↗

arXiv2025

Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with partial feedback linearization and stabilization. Then, transverse linearization along the reference orbit is computed, resulting in a periodic linear time-varying system with a stable subspace. Sliding-mode control drives trajectories toward this subspace. The proposed design avoids solving computationally intensive periodic LQR problems and improves robustness to matched disturbances. The methodology is validated through experiments on the Butterfly robot.

cs.RO↗