Title :
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
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;
Conference_Titel :
Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3718-2
DOI :
10.1109/VSS.1996.578620
