On modular backstepping design with second order sliding modes

DOI10.1016/S0005-1098(00)00131-XMaRDI QIDQ1592904zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Luisa Giacomini, Antonella Ferrara

Publication date 27 June 2001

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(00)00131-x

zbMATH Keywords

adaptive controlleralgorithmbacksteppingdiscretizationLyapunov functionparametric-strict feedback formrobust controlsecond order sliding modetracking

Mathematics Subject Classification ID

Variable structure systems (93B12) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40)

Review text

The paper deals with systems in the parametric-strict feedback form \[ \begin{aligned} x_i &=x_{i+1}+\theta \Phi _i(x_1,\dots ,x_i),\quad i=1,\dots ,n-1, \\ x_n &=\Phi _0(x_1,\dots ,x_n)+\theta \Phi _n(x_1,\dots ,x_n)+\beta (x_1,\dots ,x_n)u,\end{aligned} \] where \(\theta \) is a vector of constant unknown parameters, \(\Phi _i\) and \( \beta \) are known smooth nonlinear functions. The control objective is to make \(\gamma =x_1(t)\) track a smooth reference trajectory \(\gamma _r(t).\) A modular procedure to design estimation-based second order sliding mode controllers for uncertain nonlinear systems expressible in parametric-strict feedback form is presented. It consists of \(n-2\) steps of modular backstepping to compute all the quantities needed to build a second order auxiliary system. In particular, the authors propose a desired algorithm which is a modification of the Bartolini algorithm [\textit{G. Bartolini, A. Ferrara} and \textit{E. Usai}, Int. J. Robust Nonlinear Control 7, 299-319 (1997)]. Convergence of the desired algorithm is proved. A numerical example is considered.

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Cited in

(3)

• Dynamic sliding mode control design based on an integral manifold for nonlinear uncertain systems
• Natural surface design for sliding mode control with multiple discontinuous inputs
• Optimization‐based adaptive sliding mode control with application to vehicle dynamics control

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