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Global tracking sliding mode control for a class of nonlinear systems via variable gain observer
Author(s) -
Peixoto Alessandro Jacoud,
Oliveira Tiago Roux,
Hsu Liu,
Lizarralde Fernando,
Costa Ramon R.
Publication year - 2011
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/rnc.1584
Subject(s) - control theory (sociology) , nonlinear system , norm (philosophy) , sliding mode control , bounded function , observer (physics) , state observer , mathematics , estimator , residual , computer science , control (management) , law , physics , algorithm , mathematical analysis , artificial intelligence , quantum mechanics , statistics , political science
A novel output‐feedback sliding mode control strategy is proposed for a class of single‐input single‐output (SISO) uncertain time‐varying nonlinear systems for which a norm state estimator can be implemented. Such a class encompasses minimum‐phase systems with nonlinearities affinely norm bounded by unmeasured states with growth rate depending nonlinearly on the measured system output and on the internal states related with the zero‐dynamics. The sliding surface is generated by using the state of a high gain observer (HGO) whereas a peaking free control amplitude is obtained via a norm observer. In contrast to the existing semi‐global sliding mode control solutions available in the literature for the class of plants considered here, the proposed scheme is free of peaking and achieves global tracking with respect to a small residual set. The key idea is to design a time‐varying HGO gain implementable from measurable signals. Copyright © 2010 John Wiley & Sons, Ltd.