Sliding Mode Control of Uncertain Multivariable Nonlinear Systems With Unknown Control Direction via Switching and Monitoring Function

Author

Oliveira, Tiago Roux ; Peixoto, Alessandro Jacoud ; Hsu, Liu

Author_Institution

Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Rio de Janeiro, Brazil

Volume

55

Issue

4

fYear

2010

fDate

4/1/2010 12:00:00 AM

Firstpage

1028

Lastpage

1034

Abstract

A novel output-feedback tracking sliding mode control strategy is proposed for a class of uncertain multi-input-multi-output (MIMO) systems with strong nonlinearities and unknown high-frequency gain (HFG) matrix, that is, the control direction is assumed unknown. A switching scheme based on a monitoring function is designed to handle the control direction uncertainty. The proposed method provides global stability properties and exact output tracking. Simulation results about a robotics visual servoing system using a fixed but uncalibrated camera illustrate the robustness and practical viability of the proposed scheme.

Keywords

MIMO systems; control nonlinearities; feedback; matrix algebra; multivariable control systems; nonlinear control systems; stability; tracking; uncertain systems; variable structure systems; exact output tracking; global stability properties; output-feedback tracking sliding mode control strategy; robotics visual servoing system; uncertain multiinput-multioutput systems; uncertain multivariable nonlinear systems; unknown control direction; unknown high-frequency gain matrix; Control nonlinearities; Control systems; MIMO; Monitoring; Nonlinear control systems; Nonlinear systems; Robots; Sliding mode control; Stability; Uncertainty; Global exact tracking; multivariable nonlinear systems; output-feedback; sliding mode control; unknown control direction;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2041986

Filename

5404384