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In this paper, we propose methodology to solve noninteracting control problem for general nonlinear systems based on the relaxed control technique proposed by Artstein. For a class of nonlinear systems which cannot be stabilized by smooth feedback, a state-feedback relaxed control can be designed to decouple the system into several SISO or MIMO systems and simplify the controller design.
This paper develops backstepping-sliding mode control method for multi-input and multi-out nonlinear system. In order to solve the chattering problem, three continuous functions are introduced and the error function is employed as the sliding surface function finally after detailed comparison. Certain kind of two-axis tracking system is taken as an example. And dynamic model of the system is established...
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