Sliding controller design for non-linear systems

1984/08/01 by Jean-Jacques Slotine, JEAN-JACQUES E. SLOTINE · 5 citations
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Iterative Learning Control Systems

paper · doi:10.1080/00207178408933284

Abstract

Abstract New results are presented on the sliding control methodology introduced by Slotine and Sastry (1983) to achieve accurate tracking for a class of non-linear time-varying multivariate systems in the presence of disturbances and parameter variations. An explicit trade-off is obtained between tracking precision and robustness to modelling uncertainty : tracking accuracy is sot according to the extent, of parametric uncertainty and the frequency range of unmodelled dynamics. The trade-off is further refined to account for time-dependence of model uncertainty.

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