Discrete time output feedback sliding mode tracking control for systems with uncertainties

Srinath Govindaswamy (1) , Thierry Floquet (2) , Sarah Katherine Spurgeon (1)

1 Department of Electronics
2 NON-A - Non-Asymptotic estimation for online systems

This paper describes a method for designing discrete time static output feedback sliding mode tracking controllers for uncertain systems that are not necessarily minimum phase or of relative degree one. In this work, a procedure for realizing discrete time controllers via a particular set of extended outputs is presented for systems with uncertainties. The conditions for existence of a sliding manifold guaranteeing a stable sliding motion are given. A procedure to synthesize a control law that minimizes the effect of the disturbance on the sliding mode dynamics and the augmented outputs is given. The proposed control law is then applied to a benchmark aircraft problem taken from the literature that represents the lateral dynamics of a F-14 aircraft under powered approach

Domaines: Automatique

Srinath Govindaswamy, Thierry Floquet, Sarah Katherine Spurgeon. Discrete time output feedback sliding mode tracking control for systems with uncertainties . International Journal of Robust and Nonlinear Control, 2014, 24 (15), pp.2098-2118. ⟨10.1002/rnc.2978⟩. ⟨hal-01114888⟩