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Control of uncertain nonlinear systems with arbitrary relative degree and unknown control direction using sliding modes
Author(s) -
Oliveira T. R.,
Peixoto A. J.,
Nunes E. V. L.,
Hsu L.
Publication year - 2007
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.978
Subject(s) - differentiator , control theory (sociology) , nonlinear system , controller (irrigation) , sliding mode control , class (philosophy) , mathematics , degree (music) , stability (learning theory) , exponential stability , state (computer science) , control (management) , computer science , artificial intelligence , algorithm , computer network , physics , bandwidth (computing) , quantum mechanics , machine learning , acoustics , agronomy , biology
The control of uncertain nonlinear systems by output feedback is addressed. A model‐reference tracking sliding mode controller is designed for uncertain plants with arbitrary relative degree. Nonlinearities of a given class are incorporated as state dependent and possibly unmatched disturbances of a linear plant. Such class encompasses nonlinear systems which are triangular in the unmeasured states. In contrast with previous works, exact tracking is achieved by means of a switching strategy based on a locally exact differentiator, and a monitoring function is used to cope with the lack of knowledge of the control direction. Global or semi‐global stability properties of the closed‐loop system are proved. Copyright © 2007 John Wiley & Sons, Ltd.