Higher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs

Leonid Fridman, Antonio Estrada, Alejandra Ferreira de Loza

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferencia

2 Citas (Scopus)

Resumen

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.
Idioma originalInglés estadounidense
Título de la publicación alojadaHigher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs
Páginas117-144
Número de páginas102
ISBN (versión digital)9783642369858
DOI
EstadoPublicada - 1 ene 2013
Publicado de forma externa
EventoLecture Notes in Control and Information Sciences -
Duración: 1 ene 2013 → …

Serie de la publicación

NombreLecture Notes in Control and Information Sciences
Volumen440 LNCIS
ISSN (versión impresa)0170-8643

Conferencia

ConferenciaLecture Notes in Control and Information Sciences
Período1/01/13 → …

Huella

Profundice en los temas de investigación de 'Higher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs'. En conjunto forman una huella única.

Citar esto