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Technical Brief

Approximation-free Output-Feedback Control of Uncertain Nonlinear Systems Using Higher-Order Sliding Mode Observer

[+] Author and Article Information
Jang-Hyun Park

Professor, Dept. of Electrical and Control Engr., Mokpo National University, Cheonnam, Korea 58554
jhpark72@mokpo.ac.kr

Seong-Hwan Kim

Professor, Dept. of Electrical and Control Engr., Mokpo National University, Cheonnam, Korea 58554
shkim@mokpo.ac.kr

Tae-Sik Park

Assistant professor, Dept. of Electrical and Control Engr., Mokpo National University, Cheonnam, Korea 58554
tspark@mokpo.ac.kr

1Corresponding author.

ASME doi:10.1115/1.4040664 History: Received September 10, 2017; Revised June 20, 2018

Abstract

A novel output-feedback controller for uncertain SISO nonaffine nonlinear systems is proposed using high-order sliding mode (HOSM) observer which is a robust exact finite-time convergent differentiator. The proposed controller utilizes (n+1)th-order HOSM observer to cancel the uncertainty and disturbance where $n$ is the relative degree of the controlled system. As a result, the control law has an extremely simple form of linear in the differentiator states. It is required no separate sliding-mode controller or universal approximators such as neural networks or fuzzy logic systems that are adaptively tuned online. The proposed controller guarantees finite time (FT) stability of the output tracking error.

Copyright (c) 2018 by ASME
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