Continuous robust tracking controllers for a class of uncertain nonlinear dynamical systems (Q2748690)

The authors propose a robust tracking continuous controller with integrator for a class of uncertain nonlinear input-output feedback linearizable systems based on the combination of a stabilizing Lyapunov function and a variable structure control. First, they choose the function of the tracking error, its derivative, and the integral of the tracking error. For the derivation of a control law, a Lyapunov function is constructed which is quadratic in the function mentioned before. The control law is obtained such that the derivative of the chosen Lyapunov function is less than zero. Such a controller avoids the chattering of a control value and guarantees the uniform ultimate bond and uniform asymptotic stability of the considered system by choosing different gain functions for the controller.