A combined DAB/SMC algorithm for the control of nontriangular nonlinear uncertain systems

In this paper a combined algorithm for the control of non-triangular nonlinear systems with unmatched uncertainties will be presented. It relies on a combination of Dynamical Adaptive Backstepping (DAB) and Sliding Mode Control (SMC) of the second order. The role of the sliding mode control is to replace the last step of the DAB procedure, a generalization of the backstepping technique, to obtain more robustness towards disturbances and unmodelled dynamics. The main advantages of the second order sliding mode algorithms are the prevention of chattering and a significant simplification of the control law.