Global tracking control for a class of nonlinear uncertain systems

Author

Bartolini, Giorgio ; Pisano, Alessandro ; Usai, Elio

Author_Institution

Dipt. di Ingegneria Elettrica ed Elettronica, Cagliari Univ., Italy

Volume

1

fYear

2001

fDate

2001

Firstpage

473

Abstract

In this paper the exponential tracking problem for a class of single-input nonlinear uncertain systems expressed in canonical Brunowsky form, with nonaffine dependence on the control, is addressed and solved by a second-order sliding-mode control methodology. The presence of unmodelled first-order actuators is considered in the design procedure, and the proposed controller provides for a global domain of attraction and counteracts the typical transient peaking of the state trajectory. Computer simulations confirm the feasibility of the proposed approach

Keywords

actuators; control system synthesis; nonlinear control systems; tracking; uncertain systems; variable structure systems; canonical Brunowsky form; exponential tracking problem; global attraction domain; global tracking control; nonaffine control dependence; nonlinear uncertain systems; second-order sliding-mode control methodology; state trajectory; transient peaking; unmodelled first-order actuators; Actuators; Computer simulation; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Sliding mode control; Uncertain systems; Uncertainty; Upper bound;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980145

Filename

980145