A new approach to causal output tracking for non-minimum phase nonlinear systems via combined first/second order sliding mode control

2013 ◽  
Author(s):  
Alessandro Pisano ◽  
Simon Baev ◽  
Domenico Salimbeni ◽  
Yuri Shtessel ◽  
Elio Usai
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Second Order ◽  
Minimum Phase ◽  
New Approach ◽  
Output Tracking ◽  
Mode Control ◽  
Second Order Sliding Mode

Output Feedback Second-Order Sliding Mode Control for a Class of Nonlinear Systems With Non-Matched Uncertainties

2000 ◽  
Vol 123 (3) ◽  
pp. 317-323 ◽  
Author(s):  
Antonella Ferrara ◽  
Luisa Giac¸omini
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Second Order ◽  
Observation Error ◽  
Mode Control ◽  
Sliding Manifold ◽  
Second Order Sliding Mode

The problem of the design of an output feedback second-order sliding mode control for a class of nonlinear systems affine in the control law with non-matched uncertainties is considered in this paper. An observer-based backstepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a tracking control objective. The construction of the sliding manifold is performed so that the problem of steering the sliding quantity to zero in finite time turns out to be solvable locally through a second-order sliding mode control approach, as in the conventional matched uncertainty case, and the associated zero dynamics is minimum phase. On the other hand, the observer operates in first-order sliding mode, also fed by the control signal generated by the backstepping-second-order sliding mode algorithm. This signal presents the advantage of being continuous by virtue of the second-order sliding mode nature of the controller, enabling the fast convergence to zero of the observation error.

Sliding Mode Control for Nonlinear Systems with Output Delay Via Method of Stable System Center*

2003 ◽  
Vol 125 (2) ◽  
pp. 253-257 ◽  
Author(s):  
Yuri B. Shtessel ◽  
Alan S. I. Zinober ◽  
Ilia A. Shkolnikov
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Stable System ◽  
Phase System ◽  
Minimum Phase ◽  
Tracking Problem ◽  
Output Tracking ◽  
Mode Control ◽  
State Tracking

Output tracking in causal nonlinear systems with an output time delay is considered using sliding mode control. The problem is reduced to that of the tracking of the output reference profile given by an exogenous system in a causal non-minimum phase system without delay, where the delay is being replaced by its Pade’ approximation. The non-minimum phase output-tracking problem is transformed to a corresponding state tracking problem. Bounded state tracking profiles are generated by equations of the stable system center. A sliding mode control algorithm is developed. A numerical example demonstrates the effectiveness of the sliding mode control design.

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