Control of uncertain nonlinear systems with arbitrary relative degree and unknown control direction using sliding modes

✍ Scribed by Oliveira, T. R. (author);Peixoto, A. J. (author);Nunes, E. V.L. (author);Hsu, L. (author)

• Publisher: John Wiley and Sons
• Year: 2007
• Tongue: English
• Weight: 274 KB
• Volume: 21
• Category: Article
• ISSN: 0890-6327
• DOI: 10.1002/acs.978

✦ Synopsis

Abstract

The control of uncertain nonlinear systems by output feedback is addressed. A model‐reference tracking sliding mode controller is designed for uncertain plants with arbitrary relative degree. Nonlinearities of a given class are incorporated as state dependent and possibly unmatched disturbances of a linear plant. Such class encompasses nonlinear systems which are triangular in the unmeasured states. In contrast with previous works, exact tracking is achieved by means of a switching strategy based on a locally exact differentiator, and a monitoring function is used to cope with the lack of knowledge of the control direction. Global or semi‐global stability properties of the closed‐loop system are proved. Copyright © 2007 John Wiley & Sons, Ltd.