Title :
Integral HOSM Semiglobal Controller for Finite-Time Exact Compensation of Unmatched Perturbations
Author :
Estrada, Antonio ; Fridman, Leonid M.
Author_Institution :
Dept. of Control & Robot., Univ. Nac. Autonoma de Mexico (UNAM), Mexico City, Mexico
Abstract :
The present technical note studies a class of nonlinear systems with unmatched perturbations. The combination of integral high-order sliding modes with the hierarchical quasi-continuous controller is proposed allowing finite-time exact compensation of unmatched perturbations with semiglobal convergence features for both regulation and tracking.
Keywords :
compensation; nonlinear control systems; perturbation theory; variable structure systems; finite-time exact compensation; hierarchical quasi-continuous controller; integral HOSM semiglobal controller; integral high-order sliding modes; nonlinear systems; unmatched perturbations; Backstepping; Control systems; Feedback; Integral equations; Lyapunov method; Nonlinear control systems; Nonlinear systems; Samarium; Sliding mode control; Uncertainty; High-order sliding modes (HOSM); nonlinear block controllable form (NBC-form); sliding mode (SM) control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2067270
