Title :
The use of sliding modes to simplify the backstepping control method
Author :
Stotsky, A. ; Hedrick, J.K. ; Yip, P.P.
Author_Institution :
R. Inst. of Technol., Stockholm, Sweden
Abstract :
We propose a simple sliding mode based controller for nonlinear systems with mismatched uncertainties. The design methodology is similar to backstepping and multiple surface control method but with the inclusion of sliding mode filters for estimating the derivatives of the plant output
Keywords :
Lyapunov methods; differential equations; filtering theory; nonlinear control systems; state estimation; uncertain systems; variable structure systems; Lyapunov function; backstepping control; differential equations; multiple surface control; nonlinear control systems; sliding mode control; sliding mode filters; state estimation; uncertain systems; variable structure systems; Backstepping; Design methodology; Finite difference methods; Frequency; Low pass filters; Lyapunov method; Mechanical variables control; Motion estimation; Sliding mode control; Uncertainty;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610875
