A combined DAB/SMC algorithm for the control of nontriangular nonlinear uncertain systems

Author

Rios-Bolivar, M. ; Ferrara, A. ; Giacomini, L. ; Scarratt, J.C. ; Zinober, A.S.I.

Author_Institution

Dept. de Sist. de Control, Univ. de Los Andes, Merida, Venezuela

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

3815

Lastpage

3820

Abstract

In this paper a combined algorithm for the control of non-triangular nonlinear systems with unmatched uncertainties will be presented. It relies on a combination of Dynamical Adaptive Backstepping (DAB) and Sliding Mode Control (SMC) of the second order. The role of the sliding mode control is to replace the last step of the DAB procedure, a generalization of the backstepping technique, to obtain more robustness towards disturbances and unmodelled dynamics. The main advantages of the second order sliding mode algorithms are the prevention of chattering and a significant simplification of the control law.

Keywords

adaptive control; control nonlinearities; nonlinear control systems; robust control; uncertain systems; variable structure systems; DAB algorithm; SMC algorithm; dynamical adaptive backstepping; nontriangular nonlinear system control; sliding mode control; system robustness; uncertain system; Adaptive systems; Algorithm design and analysis; Backstepping; Feeds; Heuristic algorithms; Nonlinear systems; Tuning; Adaptive control; second-order sliding-mode; uncertain nonlinear Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099926