Robust control of nonlinear affine systems via second-order sliding mode

A model-based robust nonlinear control via second-order sliding mode for a class of nonlinear affine systems is presented in this paper. The proposed approach consists of the inverse dynamics of the system for a compensation of the nominal nonlinear terms and a second-order sliding mode control to deal with the given parameter uncertainty as well as the unknown disturbances. Within a stability analysis, the stability conditions are derived and proved by means of Lyapunov´s second method. Moreover, the robust nonlinear control approach is applied to the tracking control of a hydrostatic transmission, which is a typical nonlinear system with parameter uncertainty and unknown disturbances. The simulation and experimental results highlight the applicability of the proposed method.