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Sliding mode tracking control using finite‐time differentiator in high‐orders nonlinear systems with output stochastic signals
Author(s) -
Ma Ruizi,
Yan Tianhong
Publication year - 2020
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.5152
Subject(s) - differentiator , control theory (sociology) , robustness (evolution) , nonlinear system , sliding mode control , computer science , trajectory , tracking (education) , mathematics , physics , artificial intelligence , bandwidth (computing) , control (management) , psychology , computer network , pedagogy , biochemistry , chemistry , quantum mechanics , astronomy , gene
Summary This article presents sliding mode tracking control using finite‐time nonlinear differentiator (FND) to the high‐orders nonlinear systems that states are unknown and the output measurement signals involves stochastic disturbances. The FND using singular perturbation technique is applied to estimate the unknown states in the tracking system, and not rely on the model information under the condition of output stochastic signals. The stochastic noises involved in the output measurement signals are restrained sufficiently by the FNDs. The design of sliding mode tracking controller using FND reduces the chattering phenomenon efficiently. The analysis of systems stability and differentiator robustness is demonstrated. The comparative simulation results show that the sliding mode controller using FND track the desired trajectory in high accuracy with tracking errors fast convergence.