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Output-feedback sliding mode control for global asymptotic tracking of uncertain systems using locally exact differentiators

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3 Author(s)
E. V. L. Nunes ; Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil ; Liu Hsu ; F. Lizarralde

This paper generalizes and validates experimentally the applicability of a recently developed output-feedback sliding mode tracking controller based on a hybrid switching compensator. The proposed controller can deal with plants of arbitrary relative degree by using a locally exact differentiator of higher order based on second order sliding modes (SOSM). Global stability and asymptotic exact tracking are achieved by combining, through switching, a standard lead filter with the SOSM exact differentiator. Simulations and experimental results are presented to illustrate the applicability of the hybrid scheme in real conditions

Published in:

2006 American Control Conference

Date of Conference:

14-16 June 2006