A combined backstepping/second order sliding mode approach to control a class of nonlinear systems

Author

Bartolini, G. ; Ferrara, A. ; Giacomini, L. ; Usai, E.

Author_Institution

Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy

fYear

1996

fDate

5-6 Dec 1996

Firstpage

205

Lastpage

210

Abstract

A combined adaptive/variable structure control approach is presented in this note, which exploits the good properties of the backstepping procedure, on one side, and of a second order sliding mode control algorithm, on the other. It retains the stability and convergence features of the original adaptive strategy, allowing, in addition, the presence of nonparametric uncertainties in the last two equations of the system, as well as ensuring robustness and a reduction of the computational load

Keywords

adaptive control; computational complexity; convergence; nonlinear control systems; robust control; variable structure systems; VSC; VSS; adaptive control; backstepping; convergence; nonlinear systems control; nonparametric uncertainties; robustness; second-order sliding mode approach; stability; variable structure control; Adaptive control; Backstepping; Control systems; Convergence; Feedback; Nonlinear control systems; Nonlinear systems; Programmable control; Robust stability; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on

Conference_Location

Tokyo

Print_ISBN

0-7803-3718-2

Type

conf

DOI

10.1109/VSS.1996.578620

Filename

578620