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标题：HOSM Differentiator with Varying Gains for Global/Semi-Global Output Feedback * * This work was supported in part by Brazilian funding agencies CNPq, FAPERJ and CAPES.
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作者：Tiago Roux Oliveira ; Victor Hugo Pereira Rodrigues ; Antonio Estrada 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1728-1735
DOI：10.1016/j.ifacol.2017.08.500
语种：English
出版社：Elsevier
摘要：AbstractThis paper develops a higher-order sliding mode (HOSM) differentiator with adaptive gains to address the exact tracking control problem using only input-output information of a wider class of nonlinear systems with disturbances and parametric uncertainties. The complete state of the plant is assumed unmeasured so that a norm state estimator is constructed to norm bound the state-dependent disturbances and dynamically update the gains of the proposed differentiator. Global/semi-global stability properties and robust exact tracking can be achieved when the proposed adaptive HOSM based differentiator is applied to output-feedback purposes. Numerical simulations are presented for different sliding mode control designs, such as: (a) first-order sliding mode control, (b) non-singular terminal sliding modes, (c) second order sliding mode (SOSM) algorithms (twisting and super-twisting) as well as (d) quasi-continuous HOSM finite-time controllers.
关键词：Keywordsvariable structure controlhigher-order sliding modesdifferentiatorsoutput feedbacktrackingglobal/semi-global stability