NDLI: Global sliding-mode control for companion nonlinear system with bounded control

Content Provider	IEEE Xplore Digital Library
Author	Yan Weisheng Xu Demin Ren Zhang
Copyright Year	1998
Description	Author affiliation: Coll. of Marine Eng., Northwestern Polytech. Univ., Xian, China (Yan Weisheng)
Abstract	Based on feedback linearization, quasi-time-optimal control and sliding-mode control theory, a kind of quasi-time-optimal, continuously time-varying sliding-mode for robust control of nonlinear uncertain systems subject to input constraint is presented. The proposed sliding surface can adapt it to the initial conditions of the system and the controller can be composed of two parts: one part is used to turn the nonlinear system into linear system by feedback linearization, and the other part is used to realize the quasi-time-optimal control for feedback linearized system. By this means, insensitivity of the system to external disturbance and parameter uncertainties is guaranteed from the very beginning of the proposed control action, and the system error convergence rate can be greatly increased. The advantages of the proposed scheme are indicated by comparison with the Bartoszewicz's scheme (1996), and the Lyapunov theory is used to prove the existence of a sliding mode on the surface.
Starting Page	3884
Ending Page	3888
File Size	396231
Page Count	5
File Format	PDF
ISBN	0780345304
ISSN	07431619
DOI	10.1109/ACC.1998.703378
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Sliding mode control Nonlinear systems Control systems Linear feedback control systems Nonlinear control systems Uncertain systems Time varying systems Robust control Constraint theory Linear systems
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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