Title :
A novel backstepping sliding mode dynamic surface control
Author :
Dong Wang ; Shuguang Liu ; Xianglun Zhang ; Qiang Tang
Author_Institution :
Aeronaut. & Astronaut. Eng. Coll., Air Force Eng. Univ., Xi´an, China
Abstract :
A novel backstepping sliding mode control with guaranteed L∞ tracking performance is proposed for a class of typical uncertain strict-feedback nonlinear systems. Inspired by dynamic surface control, the introduction of a low-pass filter avoids the problem of explosion of terms in traditional backstepping design, and instead of the sign function in the sliding mode controller, a continuously differentiable hyperbolic tangent function is used to eliminate the chattering in sliding mode control. Semi-global stability of the closed-loop system is proved based on Lyapunov stability theory. By appropriately choosing design parameters and initializing error variables, the exact relationship between L∞ performance of the tracking error and designing parameters is established, and the L∞ performance of the tracking error is guaranteed. Simulation results demonstrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; closed loop systems; control nonlinearities; control system synthesis; feedback; low-pass filters; nonlinear control systems; stability; variable structure systems; L∞ tracking performance; Lyapunov stability theory; backstepping design; backstepping sliding mode dynamic surface control; chattering elimination; closed-loop system; continuously differentiable hyperbolic tangent function; error variables; low-pass filter; semiglobal stability; sign function; sliding mode controller; uncertain strict-feedback nonlinear systems; Aerodynamics; Automation; Backstepping; Educational institutions; Intelligent control; Sliding mode control; backstepping control; dynamic surface control; sliding mode control; strict-feedback systems;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053522