Title :
Two methodologies for the design of sliding mode servomechanism with uncertain exosystems
Author_Institution :
Galatasaray Univ., Istanbul
Abstract :
Two servomechanism design methodologies, the feedback of estimates of the disturbance states and the extended system driven by the output error vector are investigated by using frequency-shaped optimal sliding mode approach combined with Lyapunov based backstepping design. Compensator dynamics introduced in sliding mode are applied to the methodologies to assure attenuation of the unknown exogenous disturbance while minimally exciting unmodeled dynamics.
Keywords :
Lyapunov methods; feedback; optimal control; servomechanisms; uncertain systems; variable structure systems; Lyapunov based backstepping; compensator dynamics; feedback; frequency-shaped optimal sliding mode; output error vector; sliding mode servomechanism; uncertain exosystems; Control systems; Design methodology; Error correction; Frequency estimation; Output feedback; Robust control; Servomechanisms; Stability; State feedback; Vectors;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434739
