✦ LIBER ✦

Robust sliding mode control of uncertain nonlinear systems

✍ Scribed by Xiao-Yun Lu; Sarah K. Spurgeon

Publisher: Elsevier Science
Year: 1997
Tongue: English
Weight: 698 KB
Volume: 32
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(97)00061-3

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✦ Synopsis

A dynamic sliding mode controller design method is proposed for multiple input-output systems with additive uncertainties. A previous result on the stability of triangular systems is generalised to the case of uniform ultimate boundedness of controlled triangular systems. This is used to prove the stability of the overall closed-i0op system. The uncertain system with appropriately chosen sliding mode control is shown to be ultimately bounded if the zero dynamics of the nominal system are uniformly asymptotically (exponentially) stable. The design method is demonstrated with two examples.

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