Continuous sliding mode tracking control with robust observer for nonlinear systems

2006 ◽  
Author(s):  
Xiaoyu Zhang ◽  
Hongye Su ◽  
Lingfei Xiao
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robust Observer ◽  
Mode Tracking

scholarly journals Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Qiang Zhang ◽  
Hongliang Yu ◽  
Xiaohong Wang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Mode Tracking ◽  
Nonaffine Nonlinear Systems

This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.

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