A dynamical variable structure control strategy in asymptotic output tracking problems

Author

Sira-Ramirez, Hebertt

Author_Institution

Departamento Sistemas de Control, Univ. de los Andes, Merida, Venezuela

Volume

38

Issue

4

fYear

1993

fDate

4/1/1993 12:00:00 AM

Firstpage

615

Lastpage

620

Abstract

A dynamical discontinuous feedback strategy of the sliding mode type is presented for asymptotic output tracking problems in nonlinear dynamical systems. N. Fliess´ (1989, 1990) generalized observability canonical form (GOCF) is used in the derivation of the dynamical variable structure feedback controller. For a large class of nonlinear systems, a truly effective smoothing of the sliding mode controlled responses is possible, while substantially reducing the chattering for the control output. For this reason, the technique is especially suitable for the control of some mechanical and electromechanical systems. An example, including simulations, is provided

Keywords

control nonlinearities; feedback; nonlinear control systems; observability; tracking; variable structure systems; asymptotic output tracking problems; chattering; discontinuous feedback strategy; dynamical variable structure control; electromechanical systems; generalized observability canonical form; mechanical systems; nonlinear dynamical systems; sliding mode; Adaptive control; Control systems; Electric variables control; Mechanical variables control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Observability; Output feedback; Sliding mode control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.250533

Filename

250533