Two methodologies for the design of sliding mode servomechanism with uncertain exosystems

ACARMAN T.

46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States Of America, 12 - 14 December 2007, pp.2035-2040, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cdc.2007.4434739
  • City: New Orleans, LA
  • Country: United States Of America
  • Page Numbers: pp.2035-2040
  • Galatasaray University Affiliated: Yes

Abstract

Two servomechanism design methodologies, the feedback of estimates of the disturbance states and the extended system driven by the output error vector are investigated by using frequency-shaped optimal sliding mode approach combined with Lyapunov based backstepping design. Compensator dynamics introduced in sliding mode are applied to the methodologies to assure attenuation of the unknown exogenous disturbance while minimally exciting unmodeled dynamics. © 2007 IEEE.