Nonminimum-phase output tracking in causal systems using higher order sliding modes

Author

Baev, S. ; Shtessel, Y. ; Shkolnikov, I.

fYear

2007

fDate

9-13 July 2007

Firstpage

4546

Lastpage

4551

Abstract

Asymptotic output tracking in a class of causal nonminimum-phase uncertain nonlinear systems is addressed via higher order sliding modes. Local asymptotic stability of the output tracking-error dynamics is provided. An output reference profile and an external disturbance forcing the internal dynamics are defined by an unknown linear exosystem. Its characteristic polynomial (which is used in the output-tracking control algorithm) is identified online by using a higher order sliding mode parameter observer. A numerical example illustrates efficiency of the developed higher order sliding mode (HOSM) control algorithm.

Keywords

asymptotic stability; linear systems; nonlinear dynamical systems; tracking; uncertain systems; variable structure systems; asymptotic output tracking; causal nonminimum-phase uncertain nonlinear system; higher order sliding mode control algorithm; linear exosystem; local asymptotic stability; nonminimum-phase output tracking error dynamics; output-tracking control algorithm; Asymptotic stability; Cities and towns; Control systems; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Polynomials; Sliding mode control; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2007. ACC '07

Conference_Location

New York, NY

ISSN

0743-1619

Print_ISBN

1-4244-0988-8

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2007.4282351

Filename

4282351