학술논문
Output-feedback sliding mode control for global asymptotic tracking of uncertain systems using locally exact differentiators
Document Type
Conference
Author
Source
2006 American Control Conference American Control Conference American Control Conference, 2006. :6 pp. 2006
Subject
Language
ISSN
0743-1619
2378-5861
2378-5861
Abstract
This paper generalizes and validates experimentally the applicability of a recently developed output-feedback sliding mode tracking controller based on a hybrid switching compensator. The proposed controller can deal with plants of arbitrary relative degree by using a locally exact differentiator of higher order based on second order sliding modes (SOSM). Global stability and asymptotic exact tracking are achieved by combining, through switching, a standard lead filter with the SOSM exact differentiator. Simulations and experimental results are presented to illustrate the applicability of the hybrid scheme in real conditions.