Robust Error Feedback Sliding Mode Regulator for Nonlinear Systems in Regular Form ?

摘要

In this paper, the problem of designing a nonlinear Sliding Mode (SM) regulator is addressed for nonlinear affine control systems in Regular form subject to unmodeled disturbance. In particular, the error feedback SM regulator problem is defined, taking the concepts related to the zero output tracking submanifold as a starting point. Applying the internal model concept to the time-invariant SM equation, the solvability conditions to the problem are derived. A Proportional-Integral (PI) nonlinear observer is proposed, and using the observer state, a sliding manifold on which the tracking error is ultimately bounded, is formulated. A SM control algorithm is proposed to ensure the designed manifold to be attractive, achieving robustness with respect to allowed uncertainties. The effectiveness of the proposed method is demonstrated by the application to the Pendubot system.