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DYNAMICAL ADAPTIVE SLIDING MODE OUTPUT TRACKING CONTROL OF A CLASS OF NONLINEAR SYSTEMS
Author(s) -
RiosBolívar M.,
Zinober A. S. I.,
SiraRamírez H.
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<387::aid-rnc283>3.0.co;2-o
Subject(s) - control theory (sociology) , backstepping , nonlinear system , robustness (evolution) , sliding mode control , parametric statistics , bounded function , strict feedback form , computer science , adaptive control , perturbation (astronomy) , mathematics , control (management) , artificial intelligence , physics , mathematical analysis , biochemistry , chemistry , statistics , quantum mechanics , gene
An alternative adaptive scheme to achieve output tracking for a class of minimum‐phase dynamically input–output linearizable nonlinear systems with parametric uncertainties is considered. The proposed approach is based upon a combination of the adaptive backstepping design method and a sliding mode control (SMC) scheme to design dynamical adaptive sliding mode controllers and provide robust output tracking even in the presence of unknown disturbances. The validity of the proposed approach, regarding tracking objectives and robustness with respect to bounded stochastic perturbation inputs, is tested through digital computer simulations. © 1997 by John Wiley & Sons, Ltd.