Shtessel, Yuri B., Baev, Simon, Edwards, Christopher, Spurgeon, Sarah K. (2010) Output-Feedback Tracking in Causal Nonminimum-Phase Nonlinear systems using Higher-Order Sliding Modes. International Journal of Robust and Nonlinear Control, 20 (16). pp. 1866-1878. ISSN 1049-8923. (doi:10.1002/rnc.1553) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:25845)
The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. | |
Official URL: http://dx.doi.org/10.1002/rnc.1553 |
Abstract
Asymptotic output-feedback tracking in a class of causal nonminimum phase uncertain nonlinear systems is addressed via sliding mode techniques. Sliding mode control is proposed for robust stabilization of the output tracking error in the presence of a bounded disturbance. The output reference profile and the unknown input/disturbance are supposed to be described by unknown linear exogenous systems of a given order. Local asymptotic stability of the output tracking error dynamics along with the boundedness of the internal states are proven. The unstable internal states are estimated asymptotically via the proposed multistage observer that is based on the method of extended system center. A higher-order sliding mode observer/differentiator is used for the exact estimation of the input–output states in a finite time. The bounded disturbance is reconstructed asymptotically. A numerical example illustrates the efficiency of the proposed output-feedback tracking approach developed for causal nonminimum phase nonlinear systems.
Item Type: | Article |
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DOI/Identification number: | 10.1002/rnc.1553 |
Uncontrolled keywords: | Nonminimum phase, Output-feedback tracking, Higher-order sliding mode |
Subjects: | T Technology > TJ Mechanical engineering and machinery > Control engineering |
Divisions: | Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts |
Depositing User: | J. Harries |
Date Deposited: | 14 Oct 2010 14:48 UTC |
Last Modified: | 16 Nov 2021 10:04 UTC |
Resource URI: | https://kar.kent.ac.uk/id/eprint/25845 (The current URI for this page, for reference purposes) |
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