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Sliding Mode Control of Uncertain Multivariable Nonlinear Systems With Unknown Control Direction via Switching and Monitoring Function

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3 Author(s)
Oliveira, T.R. ; Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Rio de Janeiro, Brazil ; Peixoto, A.J. ; Liu Hsu

A novel output-feedback tracking sliding mode control strategy is proposed for a class of uncertain multi-input-multi-output (MIMO) systems with strong nonlinearities and unknown high-frequency gain (HFG) matrix, that is, the control direction is assumed unknown. A switching scheme based on a monitoring function is designed to handle the control direction uncertainty. The proposed method provides global stability properties and exact output tracking. Simulation results about a robotics visual servoing system using a fixed but uncalibrated camera illustrate the robustness and practical viability of the proposed scheme.

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Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 4 )