Sliding controller-sliding observer design for nonlinear systems
type: Item
instance of: scholarly article
title: Sliding controller-sliding observer design for nonlinear systems
zbMATH Open document ID: 0946.93040
DOI: 10.1016/S0947-3580(98)70115-3
author: K. Appert
published in: European Journal of Control
publication date: 1999-04-29T00:00:00Z
review text: The paper considers nonlinear systems affine in the control, with uncertainties both in the state and the observations. First, it is assumed that the system is in a controllable form and feedback linearizable. The sliding mode design is applied, with both sliding mode controllers, and sliding mode observers. For the combined system to work some matching conditions must be assumed, as demonstrated in the paper, and the scheme should be robust. Under the nonlinear matching conditions the paper displays and verifies a stabilization design. The design is then extended to a class of general single input single output systems affine in the control with some smoothness conditions and restrictions on the relative degree of the system's coefficients. An enlightening application to a robot manipulator is worked out. For this application the paper provides both an illustration of the abstract stabilization scheme, and numerical simulation results, indicating how the method can be carried out.
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93B51
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 1281600
zbMATH Keywords: robust design
zbMATH Keywords: nonlinear systems
zbMATH Keywords: sliding mode
zbMATH Keywords: matching conditions
zbMATH Keywords: stabilization
zbMATH Keywords: robot manipulator
MaRDI profile type: Publication
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full work available at URL: s0947-3580(98)70115-3
OpenAlex ID: W2004042663
reviewed by: Zvi Artstein
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description: scientific article; zbMATH DE number 1281600