Output Feedback Control for Switched Systems With Unmatched Uncertainties Based on the Common Robust Integral Sliding Mode

The output feedback robust control design is required for switched systems (SSs) without the state feedback information. For the sliding mode control (SMC) based on state observers, the unmatched uncertainty and disturbance cannot be rejected completely. In this paper, an output feedback sliding mode control (SMC) based on a robust integral sliding mode (RISM) is presented for switched systems with unmatched uncertainties. First, the control task of the output feedback stabilization based on the state observer is given. Then, in order to reject the unmatched uncertainty, the RISM is constructed on the space of the estimated state, whose parameters are selected ensuring that the system in the sliding mode is robust exponentially stable. Linear matrix inequality conditions for the parameter design and the stabilization switching rule are achieved, which make the sliding mode can reject the unmatched uncertainty and suppress the unmatched disturbance both at the designed control switching rule and the arbitrary switching rule. Consequently, the corresponding SMC controller is designed based on the state estimation and the propsoed RISM. Finally, the application simulation results to a one-link manipulator with the load change validated the effectiveness and feasibility.