Sliding mode control and a variable structure system observer as a dual problem for systems with non-linear uncertainties

Keigo Watanabe, Toshio Fukuda, Spyros G. Tzafestas

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)

Abstract

Sliding mode control is described for continuous-time systems with uncertain nonlinear elements, in which the euclidean norm of the unknown element is bounded by a known value. For a case of complete state information, we first consider a sliding mode controller consisting of three parts: a linear state feedback control, an equivalent input and a min-max control. It is then shown that the present attractiveness condition is simpler than that for a case without using the concept of equivalent input. We next derive a variable structure system (VSS) observer as a completely dual form to the sliding mode controller. The attractiveness condition is also simpler than that for a case an equivalent term is not used, but a more severe assumption is required to solve such a VSS observer. Finally, we discuss a case of incomplete state information by applying the VSS observer.

Original languageEnglish
Pages (from-to)1991-2001
Number of pages11
JournalInternational Journal of Systems Science
Volume23
Issue number11
DOIs
Publication statusPublished - Nov 1992
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications

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