Title :
Global Exact Tracking for Uncertain Systems Using Output-Feedback Sliding Mode Control
Author :
Nunes, Eduardo Vieira Leao ; Hsu, Liu ; Lizarralde, Fernando
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Rio de Janeiro
fDate :
5/1/2009 12:00:00 AM
Abstract :
This note presents a solution to the problem of global exact output tracking for uncertain linear plants with arbitrary relative degree using output-feedback sliding mode control. The key idea to overcome the relative degree obstacle is to introduce a hybrid compensator by combining, through switching, a standard lead filter with a robust exact differentiator, based on higher-order sliding modes, achieving uniform global exponential practical stability and asymptotic exact tracking.
Keywords :
asymptotic stability; feedback; linear systems; uncertain systems; variable structure systems; asymptotic exact tracking; global exact tracking; global exponential practical stability; higher-order sliding modes; output-feedback sliding mode control; uncertain linear plants; Adaptive control; Asymptotic stability; Control systems; Filters; Nonlinear systems; Robust control; Robust stability; Sliding mode control; Uncertain systems; Uncertainty; Global tracking; higher-order sliding modes; output-feedback; sliding mode control; uncertain systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2013042
