Dynamic sliding mode control based on a full-order observer: underactuated electro-mechanical system regulation (Q6567102)
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scientific article; zbMATH DE number 7875987
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| English | Dynamic sliding mode control based on a full-order observer: underactuated electro-mechanical system regulation |
scientific article; zbMATH DE number 7875987 |
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Dynamic sliding mode control based on a full-order observer: underactuated electro-mechanical system regulation (English)
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4 July 2024
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Control systems, affine in the control variable, are considered with external dynamics uncertainties. State estimates are given by a full order observer. Given a suitable sliding variable, conditions are found for the dynamic sliding mode control to obtain output disturbance bounds, and to guarantee ultimate uniform bounded stability of the closed loop system. A numerical example is presented in detail.
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output feedback and observers
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sliding mode control
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attractive ellipsoid method
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uncertain systems
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nonlinear systems
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