Higher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs

Leonid Fridman, Antonio Estrada, Alejandra Ferreira de Loza

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Three approaches for higher-order sliding-mode based unmatched uncertainty compensation are summarized. Firstly, an algorithm is proposed based on the block control and quasi-continuous higher order sliding modes techniques. This method provides for the finite-time exact tracking of a smooth desired signal in spite of unmatched perturbations and allows the reduction of the controller gains in the case of partial knowledge of the system model. Thereafter, the combination of integral high-order sliding modes with the hierarchical quasi-continuous controller is proposed allowing finite-time convergence theoretically. Finally, high-order sliding mode observers are employed for exact state and uncertainties/perturbations reconstruction. A sliding mode control design is proposed which ensures theoretically exact compensation of the uncertainties/perturbations for the corresponding unmatched states based on the identified perturbation values. An inverted pendulum simulation example is considered for illustrating the feasibility of the proposed approach. © Springer-Verlag Berlin Heidelberg 2013.
Original languageAmerican English
Title of host publicationHigher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs
Pages117-144
Number of pages102
ISBN (Electronic)9783642369858
DOIs
StatePublished - 1 Jan 2013
Externally publishedYes
EventLecture Notes in Control and Information Sciences -
Duration: 1 Jan 2013 → …

Publication series

NameLecture Notes in Control and Information Sciences
Volume440 LNCIS
ISSN (Print)0170-8643

Conference

ConferenceLecture Notes in Control and Information Sciences
Period1/01/13 → …

Fingerprint

Dive into the research topics of 'Higher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs'. Together they form a unique fingerprint.

Cite this