The use of sliding modes to simplify the backstepping control method

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.

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Bibliographic Details
Main Authors: Stotsky, A., Hedrick, J.K., Yip, P.P.
Format: Conference Proceeding
Language:English
Subjects:
Backstepping
Design methodology
Finite difference methods
Frequency
Low pass filters
Lyapunov method
Mechanical variables control
Motion estimation
Sliding mode control
Uncertainty
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Description
Summary: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.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.1997.610875