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This paper considers semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms. The objective is to design a non-smooth state feedback law such that the controlled chained form system is both Lyapunov stable and finite-time convergent within any given settling time for any given initial states. We propose a novel switching control strategy with help of...
Because an electro-hydraulic servo system is nonlinear, its parameters are difficult to measure and control accuracy is needed highly, a backstepping control method with sliding state observer is presented. In this strategy, state observer is designed by sliding method, velocity sensor and press sensor aren't needed, and position sensor is needed only. To reducing chattering with sliding method, the...
Implementation of backstepping becomes increasingly complex as the order of the system increases. This increasing complexity is mainly driven by the need to compute command derivatives at each step of the design, with the ultimate step requiring derivatives of the same order as the plant. This article addresses a modification that obviates the need to compute analytic derivatives by introducing command...
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