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SMOOTH SLIDING CONTROL OF UNCERTAIN SYSTEMS BASED ON A PREDICTION ERROR
Author(s) -
Hsu Liu
Publication year - 1997
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199704)7:4<353::aid-rnc281>3.0.co;2-8
Subject(s) - control theory (sociology) , robustness (evolution) , differentiator , output feedback , computer science , feedback control , control engineering , control (management) , engineering , artificial intelligence , bandwidth (computing) , computer network , biochemistry , chemistry , gene
This paper addresses the problem of designing sliding control of uncertain systems which are free of chattering and result in smooth control signals. Both state and output feedback are considered. The proposed approach relies on some appropriate prediction error and can be easily applied to modify the usual state feedback VSC for chattering avoidance. It can also be applied for devising new output feedback VSC laws. The robustness improvement, with respect to unmodelled dynamics, even allows one to reconsider the so far rejected utilization of approximate differentiators for VSC output feedback. The theoretical results are illustrated by simulations. An experimental evaluation is briefly discussed. © 1997 by John Wiley & Sons, Ltd.