Comparative study of trajectory tracking control using sliding mode based on backstepping and feedback linearization

Abstract

In this paper, a sliding mode control based on backstepping (BSMC) and feedback linearization (FLSMC) are proposed to solve disturbances, nonlinearity and chattering problems for a class of uncertain systems in strict feedback form. Based on backstepping technique, the proposed control strategy has fast response and good disturbance rejection capability. The stability analysis of the closed-loop system is rigorously proven using a Lyapunov approach. Sliding mode control technique has been incorporated in the feedback linearized control to address the issues of uncertainty and to add robustness to the control algorithm. The effectiveness of the proposed approaches are compared against a traditional sliding mode (SMC) for position tracking control and stabilization of the uncertain nonlinear model of inverted cart pendulum.