Abstract
The trajectory linearisation control of a non-linear system using only output information and considering the presence of matched and unmatched uncertainties/perturbations is presented. A continuous sliding mode controller is used to achieve finite-time tracking of a given continuous time-varying reference and assuring theoretically exact reconstruction of the matched and unmatched uncertainties/perturbations. The states are reconstructed theoretically exactly in finite time using a linear time-varying observer based on a high-order sliding mode framework. The proposed approach is validated using MATLAB simulations.
Original language | English |
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Pages (from-to) | 877-889 |
Number of pages | 13 |
Journal | IET Control Theory and Applications |
Volume | 15 |
Issue number | 6 |
DOIs | |
State | Published - Apr 2021 |