The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well as increasing robustness.

Application of a second order VSC to nonlinear systems in multi-input parametric-pure-feedback forms

FERRARA, ANTONELLA;
2000

Abstract

The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well as increasing robustness.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11571/5353
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