Globally stable output-feedback sliding mode control with asymptotic exact tracking

An output-feedback sliding mode controller is proposed for uncertain plants with relative degree higher than one in order to achieve asymptotic exact tracking of a reference model. To compensate the relative degree, a lead filter scheme is proposed such that global stability and asymptotic exact tra...

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Hauptverfasser:	Nunes, E.V.L., Liu Hsu, Lizarralde, F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive control Applied sciences Asymptotic stability Computer science control theory systems Control system synthesis Control systems Control theory. Systems Exact sciences and technology Filters Output feedback Polynomials Robust control Sliding mode control Uncertain systems
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creator	Nunes, E.V.L. Liu Hsu Lizarralde, F.
description	An output-feedback sliding mode controller is proposed for uncertain plants with relative degree higher than one in order to achieve asymptotic exact tracking of a reference model. To compensate the relative degree, a lead filter scheme is proposed such that global stability and asymptotic exact tracking are obtained. The scheme is based on a convex combination of a linear lead filter with a robust exact differentiator, based on second order sliding modes.
doi_str_mv	10.23919/ACC.2004.1383676
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subjects	Adaptive control Applied sciences Asymptotic stability Computer science control theory systems Control system synthesis Control systems Control theory. Systems Exact sciences and technology Filters Output feedback Polynomials Robust control Sliding mode control Uncertain systems
title	Globally stable output-feedback sliding mode control with asymptotic exact tracking
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