Robust sliding mode regulation of nonlinear systems

• Autores: A.G. Loukianov, Jorge Rivera Domínguez, Bernardino Toledo
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 89, 2018, págs. 241-246
• Idioma: inglés
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• Resumen

  • In this paper, the problem of nonlinear Sliding Mode (SM) output regulation is addressed. In particular, a state feedback SM regulator problem is formulated, taking the concepts related to the zero output tracking submanifold as a starting point, and a solution is proposed for general nonlinear affine control systems subject to unmodeled time-varying disturbance. Then, the problem is studied for the particular class of nonlinear systems presented in the so-called Regular form. The effectiveness of the proposed method is demonstrated by the application to the Pendubot system.