DocumentCode
2731163
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
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
1703
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.610875
Filename
610875
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