Application of a second order VSC to nonlinear systems in multi-input parametric-pure-feedback form. (English) Zbl 1249.93101

Summary: The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well as increasing robustness.


93C35 Multivariable systems, multidimensional control systems
93C10 Nonlinear systems in control theory
93B12 Variable structure systems
70Q05 Control of mechanical systems
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