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Nonlinear output tracking via dynamic sliding manifolds

✍ Scribed by Yuri B. Shtessel

Book ID
103093267
Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
468 KB
Volume
332
Category
Article
ISSN
0016-0032

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✦ Synopsis

Nonlinear output tracking problems in multi-input-multi-output (MIMO) systems with unmatched nonlinearities and disturbances are addressed by sliding mode control methods. The nonlinear transformation of the coordinates of the nonlinear system was developed to change the system to a form convenient for the slidin 9 mode synthesis. The slidin 9 manifold as a dynamic operator, representable as a matrix transfer function acting on some states of the original system and on the output tracking error, was designed in order to provide the system's desired linear performance. A system with such a sliding mode controller obtained the combined features of the system with the conventional compensator (accommodation to unmatched disturbances) and the conventional slidin 9 mode controller (insensitivity to matched disturbances).

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