{"title":"Robust control of uncertain nonlinear systems: a new higher order sliding mode based solution","authors":"F. Plestan, S. Laghrouche, A. Glumineau","doi":"10.1109/ACC.2006.1657582","DOIUrl":null,"url":null,"abstract":"A new robust higher order sliding mode controller for a class of uncertain minimum-phase nonlinear systems is designed. The controller is built in three steps: a) the higher order sliding mode problem is formulated in input-output term; b) it is viewed in uncertain linear context by considering uncertain nonlinear functions as bounded non structured parametric uncertainties; c) a time varying sliding manifold is designed through the computation of state trajectories ensuring the finite-time convergence. The control law which engenders the sliding on the time varying manifold allows the establishment of an rth order sliding mode","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2006.1657582","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
A new robust higher order sliding mode controller for a class of uncertain minimum-phase nonlinear systems is designed. The controller is built in three steps: a) the higher order sliding mode problem is formulated in input-output term; b) it is viewed in uncertain linear context by considering uncertain nonlinear functions as bounded non structured parametric uncertainties; c) a time varying sliding manifold is designed through the computation of state trajectories ensuring the finite-time convergence. The control law which engenders the sliding on the time varying manifold allows the establishment of an rth order sliding mode