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Flatness, backstepping and sliding mode controllers for nonlinear systems

Koshkouei, A.J., Burnham, K.J. and Zinober, A.S.L. (2008) Flatness, backstepping and sliding mode controllers for nonlinear systems. In: Bartolini, G., Fridman, L., Pisano, A. and Usai, E., (eds.) Modern Sliding Mode Control Theory. Lecture Notes in Control and Information Sciences, 375/20 . Springer Berlin / Heidelberg , Berlin , pp. 269-290. ISBN 978-3-540-79015-0

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Sliding mode control (SMC) is a powerful and robust control method. SMC methods have been widely studied in the last three decades from theoretical concepts to industrial applications [1]-[3]. Higher-order sliding mode controllers have recently been addressed to improve the system responses [1]. However, when designing a control for a plant it is sometimes more beneficial to use combined techniques, using SMC in conjunction with other methods such as backstepping, passivity, flatness and even other traditional control design methods including H  ∞ , proportional-integral-derivative (PID) and self-tuning. Note that PID control design techniques may also be used for designing the sliding surface. A drawback of the SMC methods may be unwanted chattering resulting from discontinuous control. There are many methods which can be employed to reduce chattering, for example, using a continuous approximation of the discontinuous control, and a combination of continuous and discontinuous sliding mode controllers. Chattering may also be reduced using the higher-order SMC [4] and dynamic sliding mode control [4, 5].

Item Type: Book Section
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Science (Sheffield) > School of Mathematics and Statistics (Sheffield)
Depositing User: Mrs Megan Hobbs
Date Deposited: 12 Apr 2010 10:07
Last Modified: 16 Nov 2015 11:49
Published Version: http://dx.doi.org/10.1007/978-3-540-79016-7_13
Status: Published
Publisher: Springer Berlin / Heidelberg
Identification Number: 10.1007/978-3-540-79016-7_13
URI: http://eprints.whiterose.ac.uk/id/eprint/10650

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