TY - JOUR
T1 - Exact tracking using backstepping control design and high-order sliding modes
AU - Davila, Jorge
PY - 2013
Y1 - 2013
N2 - In this technical note, a controller ensuring exponential exact tracking in the presence of matched and unmatched disturbances for the nonlinear systems in the block controllable form is proposed. The controller is designed using the backstepping procedure and combines the feedback linearization technique with the high-order sliding-modes. The matched and unmatched disturbances are compensated by the injection of a continuous term generated by the robust exact high-order sliding-modes differentiator. The obtained control law is differentiable and can be applied directly to the system. Simulations verify the performance of the proposed controller.
AB - In this technical note, a controller ensuring exponential exact tracking in the presence of matched and unmatched disturbances for the nonlinear systems in the block controllable form is proposed. The controller is designed using the backstepping procedure and combines the feedback linearization technique with the high-order sliding-modes. The matched and unmatched disturbances are compensated by the injection of a continuous term generated by the robust exact high-order sliding-modes differentiator. The obtained control law is differentiable and can be applied directly to the system. Simulations verify the performance of the proposed controller.
KW - Backstepping
KW - High-order sliding modes
KW - Sliding modes
KW - Unmatched disturbances
UR - http://www.scopus.com/inward/record.url?scp=84880886506&partnerID=8YFLogxK
U2 - 10.1109/TAC.2013.2246894
DO - 10.1109/TAC.2013.2246894
M3 - Artículo
SN - 0018-9286
VL - 58
SP - 2077
EP - 2081
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 8
M1 - 6461060
ER -