Modular backstepping design of an estimation-based sliding mode controller for uncertain nonlinear plants

1998 ◽  
Author(s):  
G. Bartolini ◽  
A. Ferrara ◽  
L. Giacomini
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Backstepping Design ◽  
Nonlinear Plants

On the Robust Stabilization of Nonlinear Uncertain Systems With Incomplete State Availability

2000 ◽  
Vol 122 (4) ◽  
pp. 738-745 ◽  
Author(s):  
G. Bartolini ◽  
A. Pisano ◽  
E. Usai ◽  
A. Levant
Keyword(s):  
Uncertain Systems ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Control Technique ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Nonlinear Uncertain Systems ◽  
The Stability ◽  
Nonlinear Plants ◽  
Second Order Sliding Mode

The control problem of a class of nonlinear uncertain processes with incomplete state availability is dealt with by means of second-order sliding mode control technique. With the aim of using a continuous control, a combined scheme is proposed in which a 2-sliding mode differentiator and a 2-sliding mode controller are coupled. The stability of the whole observer-controller system is proved for a class of nonlinear plants, and some simulation results are finally provided. [S0022-0434(00)02704-0]

New Sliding Mode Controller Based on Second Order Reachability Law

2014 ◽  
Vol 704 ◽  
pp. 357-361
Author(s):  
Mohamed Ghazy Shehata
Keyword(s):  
Sliding Mode ◽  
Second Order ◽  
Order System ◽  
Switching Function ◽  
Sliding Mode Controller ◽  
Fast Switching ◽  
Reachability Condition ◽  
System States ◽  
The Stability ◽  
Nonlinear Plants

Sliding mode control systems provide robust and simple means for controlling linear and nonlinear plants whose parameters may vary within known boundaries. The existence of an ideal sliding mode requires fast switching, which induces chattering in the system, may excite high frequency plant dynamics and consequently affect the stability of the system. This paper proposes a new simple sliding mode controller based on second order reachability law. The reachability condition in this paper is based not only on the first derivative of the switching function but also on its second derivative. The proposed controller alleviates chattering, guarantees zero steady state error, and offers smooth transients for the system states. To demonstrate the validity of the proposed controller, a second order system is used as a workbench example. The simulation results of the workbench example using MATLAB illustrate the feasibility and efficacy of the proposed controller.

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