Output Tracking via Adaptive Backstepping Higher Order Integral Sliding Mode for Uncertain Nonlinear Systems
The authors propose a new tracking control design strategy for uncertain non-linear systems which are convertible to Semi-Strict Feedback Form (SSFF). The system in SSFF is first converted into new variables via existing adaptive backstepping control techniques. The control law is obtained by combin...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2014-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2014/619010 |
| Summary: | The authors propose a new tracking control design strategy for uncertain non-linear systems which are convertible to Semi-Strict Feedback
Form (SSFF). The system in SSFF is first converted into new variables via existing adaptive backstepping control techniques. The control law is obtained
by combining adaptive backstepping procedure and higher order integral sliding mode. The component of control law designed via backstepping is continuous
which shows robustness against parametric uncertainties where as the discontinuous control component provides robustness against unmodeled dynamics and external disturbances. Since, this strategy relies on an integral manifold of the adaptively developed variables, therefore, the reaching phase is eliminated in this approach, which is an advantage in term of robustness. Furthermore, the parameters update law correctly provides the estimation of parameters which
is again results in enhanced robustness of the strategy. The stability of proposed method is analysed theoretically and validated through a numerical example. |
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| ISSN: | 1026-0226 1607-887X |