Title :
Global tracking control for a class of nonlinear uncertain systems
Author :
Bartolini, Giorgio ; Pisano, Alessandro ; Usai, Elio
Author_Institution :
Dipt. di Ingegneria Elettrica ed Elettronica, Cagliari Univ., Italy
Abstract :
In this paper the exponential tracking problem for a class of single-input nonlinear uncertain systems expressed in canonical Brunowsky form, with nonaffine dependence on the control, is addressed and solved by a second-order sliding-mode control methodology. The presence of unmodelled first-order actuators is considered in the design procedure, and the proposed controller provides for a global domain of attraction and counteracts the typical transient peaking of the state trajectory. Computer simulations confirm the feasibility of the proposed approach
Keywords :
actuators; control system synthesis; nonlinear control systems; tracking; uncertain systems; variable structure systems; canonical Brunowsky form; exponential tracking problem; global attraction domain; global tracking control; nonaffine control dependence; nonlinear uncertain systems; second-order sliding-mode control methodology; state trajectory; transient peaking; unmodelled first-order actuators; Actuators; Computer simulation; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Sliding mode control; Uncertain systems; Uncertainty; Upper bound;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980145