0
TECHNICAL PAPERS

Output Feedback Second-Order Sliding Mode Control for a Class of Nonlinear Systems With Non-Matched Uncertainties

[+] Author and Article Information
Antonella Ferrara

Department of Computer Engineering and Systems Science, University of Pavia, Via Ferrata 1, 27100 Pavia, Italye-mail: ferrara@conpro.unipv.it

Luisa Giaçomini

School of Engineering and Applied Science-Electr. Eng., Aston University, Aston Triangle, B4 7ET Birmingham, United Kingdome-mail: l.giacomini@aston.ac.uk

J. Dyn. Sys., Meas., Control 123(3), 317-323 (Mar 07, 2000) (7 pages) doi:10.1115/1.1388014 History: Received March 07, 2000
Copyright © 2001 by ASME
Your Session has timed out. Please sign back in to continue.

References

DeCarlo,  R. A., Zak,  S. H., and Matthews,  G. P., 1988, “Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial,” Proc. IEEE, 76, pp. 212–232.
Hung,  J. Y., Gao,  W., and Hung,  J. C., 1993, “Variable Structure Control: A Survey,” IEEE Trans. Ind. Electron., 40, pp. 2–22.
Garofalo, F., and Glielmo, L., eds., 1996, Robust Control via Variable Structure and Lyapunov Techniques, Lecture Notes in Control and Information Sciences,217 , Springer-Verlag.
Young, K. D., and Özgüner, Ü., eds., 1999, “Variable Structure, Sliding Mode and Nonlinear Control, ” Lecture Notes in Control and Information Sciences,247 , Springer-Verlag, London.
Young,  K. D., Utkin,  V. I., and Özgüner,  Ü., 1999, “A Control Engineer's Guide to Sliding Mode Control,” IEEE Trans. Control Syst. Technol., 7, No. 31, pp. 328–342.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Applications of a Suboptimal Discontinuous Control Algorithm for Uncertain Second Order System,” Int. J. Robust Nonlinear Control, 7, pp. 299–320.
Levant,  A., 1993, “Sliding Order and Sliding Accuracy in Sliding Mode Control,” Int. J. Contr., 58, pp. 1247–1263.
Levant,  A., 1998, “Robust Exact Differentiation via Sliding Mode Technique,” Automatica, 34, pp. 379–384.
Qu, Z., 1994, “A New Generic Procedure of Designing Robust Control for Nonlinear Uncertain Systems: Beyond the Back-stepping Design,” Proc. IEEE Workshop on Robust Control via Variable Structure and Lyapunov Techniques, Benevento, Italy, pp. 174–181.
Won,  M., and Hedrick,  K., 1996, “Multiple-surface Sliding Control of a Class of Uncertain Nonlinear Systems,” Int. J. Control, 64, No. 41, pp. 693–706.
Takahashi,  R. H. C., and Peres,  P. L. D., 1999, “H2 Guaranteed Cost-switching Surface Design for Sliding Modes with Nonmatching Disturbances,” IEEE Trans. Autom. Control, 44, No. 11, pp. 2214–2218.
Ferrara,  A., and Giacomini,  L., 2000, “Control of a Class of Mechanical Systems with Uncertainties via a Constructive Adaptive/second Order VSC Approach,” ASME J. Dyn. Syst., Meas., Control, 122, pp. 33–39.
Kokotović, P. V., Kanellakopoulos, I., and Morse, A. S., 1991, “Adaptive Feedback Linearization of Monlinear Systems,” Foundations of Adaptive Control, P. V. Kokotović, Springer-Verlag, New York, pp. 311–346.
Freeman, R. A., 1992, “A Backstepping Design of Robust Globally Stabilizing Feedback Compensators for Nonlinear Systems,” MS. thesis, University of Illinois, Urbana-Champaign.
Krstić, M., Kanellakopoulos, I., and Kokotović, P. V., 1995, Nonlinear and Adaptive Control Design, New York.
Bartolini,  G., Ferrara,  A., Giacomini,  L., and Usai,  E., 2000, “Properties of a Combined Backstepping/second Order Sliding Mode Control Algorithm for Some Classes of Uncertain Nonlinear Systems,” Trans. on Autom. Contr. 45, No. 7, pp. 1334–1341.
Jankovic,  M., 1997, “Adaptive Nonlinear Output Feedback Tracking with a Partial High-gain Observer and Backstepping,” IEEE Trans. Autom. Control, 42, pp. 106–113.
Ahmed-Ali,  T., and Lamnabhi-Lagarrigue,  F., 1999, “Sliding Observer-controller Design for Uncertain Triangular Nonlinear Systems,” IEEE Trans. Autom. Control, 44, No. 6, pp. 1244–1249.
Atassi,  A. N., and Khalil,  H. K., 1999, “A Separation Principle for the Stabilization of a Class of Nonlinear Systems,” IEEE Trans. Autom. Control, 44, No. 9, pp. 1672–1687.
Isidori, A., 1989, Nonlinear Control Systems: An Introduction, 2nd ed. Springer-Verlag, Berlin-New York.
Utkin, V. I., 1992, Sliding Modes in Control and Optimization, Springer-Verlag, Berlin.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Output Tracking Control of Uncertain Nonlinear Second-Order Systems,” Automatica, 33, No. 12, pp. 2203–2212.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1998, “Chattering Avoidance by Second-order Sliding Modes Control,” IEEE Trans. Autom. Control, 43, pp. 241–246.
Kwatny,  H. G., and Kim,  H., 1990, “Variable Structure Regulation of Partially Linearizable Dynamics,” Syst. Control Lett., 15, pp. 67–80.
Haskara,  İ., Özgüner,  Ü., and Utkin,  V., 1998, “On Sliding Mode Observers via Equivalent Control Approach,” Int. J. Control, 71, No. 6, pp. 1051–1067.
Slotine,  J.-J. E., Hedrick,  J. K., and Misawa,  E. A., 1987, “On Sliding Observers for Nonlinear Systems,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 245–252.
Yuan,  J., 1996, “A New Adaptive Robot Controller Taking Account of Motor Dynamics,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 390–393.

Figures

Grahic Jump Location
The overall control scheme
Grahic Jump Location
The sliding variable for the observer module
Grahic Jump Location
The sliding variable for the backstepping/SOSMC procedure

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In