Robust control of nonlinear uncertain systems via sliding mode with backstepping design.pdf

231 Robust Control of Nonlinear Uncertain Systems via Sliding Mode with Backstepping Design A. S. I. ZINOBER and P. LIU Applied Mathematics Section School of Mathematics and Statistics The University of Sheffield Sheffield S10 2TN UK E-mail: P.LiuQsheffield. ac.uk Keywords: Nonlinear systems, robust control class of systems without the need for strong assump- tions. We develop a control law in Section 3 incorpor- ating backstepping and sliding-mode control via sys- 1 Introduction tem extension to stabilize uncertain systems whose un- certainties satisfy some cascaded boundary conditions. Robust feedback control for uncertain nonlinear sys- Note that the uncertainties themselves do not need to tems has been extensively studied during the last ten be in a cascaded form. The algorithm is given in Sec- years. Two main classes of stabilizable uncertain feed- tion 3.2 for multi-dimensional uncertain systems. We back regulation systems have been considered. The study a three-dimensional system as an example. Ex- first consists of systems satisfying some growth con- amples and simula