Output sliding control for minimum-phase uncertain nonlinear systems

Abstract:An output sliding control (OSC) designed for a class of minimum-phase nonlinear systems with uncertainties is proposed. The OSC law consists of discontinuous switching control law and continuous equivalent control law, the former forces the system's trajectories reach the sliding surfaces and once on them the latter drives them slide towards the equilibrium point. The OSC utilizes the feedback exact linearization method but escape its dependence on the precise mathematic model, which could provide robust stability and robust performance for the structure perturbation. The approximating technique and the dynamic parameters in the switching controller are employed to reduce chattering phenomenon. The effectiveness of the proposed approach is illustrated through numerical simulations.

Volume:13

Translation or Not:no