TY - GEN
T1 - Higher Order Sliding Mode Based Accurate Tracking of Unmatched Perturbed Outputs
AU - Fridman, Leonid
AU - Estrada, Antonio
AU - de Loza, Alejandra Ferreira
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84904598996&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-36986-5_6
DO - 10.1007/978-3-642-36986-5_6
M3 - Contribución a la conferencia
SN - 9783642369858
T3 - Lecture Notes in Control and Information Sciences
SP - 117
EP - 144
BT - Advances in Sliding Mode Control
PB - Springer Verlag
T2 - 12th IEEE International Workshop on Variable Structure System, VSS 2012
Y2 - 12 January 2012 through 14 January 2012
ER -