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A higher order sliding mode control with self-tuning law algorithm is proposed for a class of uncertain nonlinear systems. This problem can be viewed as the finite time stabilization of a higher order dynamic system with unknown but bounded system uncertainties. An adaptation tuning approach without high frequency switching is developed based on geometric homogeneity and sliding mode control. The...
This paper studies the robust control problem for uncertain nonlinear systems with unknown and changing control direction. The control direction is the multiplier of the control term, and is allowed to cross zero and change its sign for unlimited number of times. Based on the analysis of system dynamics at the points where the control direction is zero, a robust controller is proposed by integrating...
In this paper we extend the time-scale separation redesign for stabilization and performance recovery of uncertain nonlinear systems proposed in and to systems with input unmodeled dynamics. The class of unmodeled dynamics studied are relative degree zero and minimum phase. We design two sets of high gain filters - the first to estimate the uncertain input to the plant over a fast time-scale, and...
This paper presents a novel robust adaptive trajectory linearization control (RATLC) method for a class of uncertain nonlinear systems based on a single hidden layer neural networks disturbance observer (SDO). The term ldquodisturbancerdquo used in this paper refers to the combination of model uncertainties and external disturbances. By utilizing the universal approximation property of neural networks...
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