The use of sliding modes to simplify the backstepping control method
A. A. Stotsky,J.K. Hedrick,P.P. Yip +2 more
- Vol. 3, pp 1703-1708
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TLDR
A simple sliding mode based controller for nonlinear systems with mismatched uncertainties with the inclusion of sliding mode filters for estimating the derivatives of the plant output is proposed.Abstract:
We propose a simple sliding mode based controller for nonlinear systems with mismatched uncertainties. The design methodology is similar to backstepping and multiple surface control method but with the inclusion of sliding mode filters for estimating the derivatives of the plant output.read more
Citations
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Command Filtered Backstepping
TL;DR: A filtering approach is presented that significantly simplifies the backstepped implementation, analyzes the effect of the command filtering, and derives a compensated tracking error that retains the standard stability properties of backstepping approaches.
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Command Filtered Adaptive Backstepping
TL;DR: This paper proposes a command filtered adaptive backstepping design method, in which analytic calculation of partial derivatives is not required and the control law and the update law become succinct.
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Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties
An-Chyau Huang,Yuan-Chih Chen +1 more
TL;DR: An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties and results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.
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Adaptive backstepping sliding mode control for linear induction motor drive
TL;DR: In this paper, an adaptive backstepping sliding mode controller was proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force.
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Robust backstepping control for slew maneuver using nonlinear tracking function
Ki-Seok Kim,Youdan Kim +1 more
TL;DR: Simulation results demonstrate that the proposed backstepping controller can achieve the slew maneuver with shorter settling time and smaller peak control torque than existing methods.
References
More filters
Book
Sliding Modes and their Application in Variable Structure Systems
TL;DR: An electric dynamically operated storage element comprises two energy stores and circuitry is provided for applying periodically repeating phase clock pulses simultaneously to the energy stores through the charging circuits.
Journal ArticleDOI
Systematic design of adaptive controllers for feedback linearizable systems
TL;DR: A systematic procedure for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems is developed, which substantially enlarges the class of non linear systems with unknown parameters for which global stabilization can be achieved.
Proceedings ArticleDOI
Systematic Design of Adaptive Controllers for Feedback Linearizable Systems
TL;DR: In this paper, a systematic procedure is developed for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems, which are transformable into the so-called pure-feedback form.
Proceedings ArticleDOI
Sliding mode observers. Tutorial
TL;DR: In this paper, the problem of designing observers for state estimation using sliding modes is discussed and the theory and design principles for linear and nonlinear systems are presented for both types of observers, using a block-observable form similar to a lower triangular matrix form.
Proceedings ArticleDOI
Dynamic surface control of nonlinear systems
TL;DR: This paper presents the method and proves stability via a composite Lyapunov method, and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms".