Backstepping Super-Twisting for Robotic Manipulators with Matched and Unmatched Uncertainties

2021 ◽  
Author(s):  
Yassine Kali ◽  
Maarouf Saad ◽  
Khalid Benjelloun
Keyword(s):  
Robotic Manipulators ◽  
Unmatched Uncertainties ◽  
Matched And Unmatched Uncertainties

scholarly journals Perturbation Observer-Based Robust Control Using a Multiple Sliding Surfaces for Nonlinear Systems with Influences of Matched and Unmatched Uncertainties

Mathematics ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 1371 ◽  
Author(s):  
Ha Le Nhu Ngoc Thanh ◽  
Mai The Vu ◽  
Nguyen Xuan Mung ◽  
Ngoc Phi Nguyen ◽  
Nguyen Thanh Phuong
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Lyapunov Theory ◽  
Loop Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Unmatched Uncertainties ◽  
Matched And Unmatched Uncertainties

This paper presents a lumped perturbation observer-based robust control method using an extended multiple sliding surface for a system with matched and unmatched uncertainties. The fundamental methodology is to apply the multiple surfaces to approximate the unknown lumped perturbations simultaneously influencing on a nonlinear single input–single output (SISO) system. Subsequently, a robust controller, based on the proposed multi-surface and the approximated values, is designed to highly improve the control performance of the system. A general stability of the lumped perturbation observer and closed-loop control system is obtained through the Lyapunov theory. Results of a numerical simulation of an illustrative example demonstrate the soundness of the proposed algorithm.

Robust Sliding Mode Control of Uncertain Dynamic Delay Systems in the Presence of Matched and Unmatched Uncertainties

1997 ◽  
Vol 119 (1) ◽  
pp. 69-72 ◽  
Author(s):  
Said Oucheriah
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Design Procedure ◽  
Delay Systems ◽  
Time Delay Systems ◽  
Ultimate Boundedness ◽  
Uniform Ultimate Boundedness ◽  
Unmatched Uncertainties ◽  
Uncertain Time ◽  
Matched And Unmatched Uncertainties

A nonlinear continuous controller is developed for a class of uncertain dynamic delay-systems in the presence of matched and unmatched uncertainties. The controller designed guarantees uniform ultimate boundedness of all motions of the class of uncertain time-delay systems considered. Furthermore, the parameters of the controller can be adjusted so that the deviation from ideal sliding mode can be made arbitrarily small. Finally, an example is included to illustrate the proposed design procedure.

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