Nonlinear Control for a class of high-order nonlinear uncertain systems

摘要

In this paper, the robust stabilization problem of a class of high-order nonlinear uncertain systems is studied. One of the difficulties of the design is that the Jacobian linearization of our system at the origin may be uncontrollable. We overcome this difficulty by adopting the integral sliding mode control combining with the differential geometry method. Firstly, a nonlinear integral-type sliding surface is constructed. Then a variable structure controller is designed to ensure the reachability of the sliding surface. The stability of the closed-loop system is analyzed. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.