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New Perspectives and Applications of Modern Control Theory pp 73–102Cite as

Sliding Mode Control Devoid of State Measurements

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Abstract

An input-output approach is presented for sliding mode control of linear and nonlinear switched systems of the differentially flat type. Two sliding mode control design options are presented: (1) a Delta-Sigma modulation implementation of a robust continuous output feedback controller design, such as the Active Disturbance Rejection Control scheme and (2) An Integral reconstructor-based approach, involving a suitable linear combinations of iterated integrals of the available system input and the measured output of the system. These reconstructors provide the synthesis of a suitably compensated stabilizing sliding surface coordinate function for stabilization or trajectory tracking problems. The relation of the second approach with Delta-Sigma modulation is also established. Two experimental case studies are presented including nonlinear mechanical plants: An under-actuated convey crane and a DC-motor-Single-link manipulator system.

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Authors and Affiliations

  1. Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, CINVESTAV-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco AP 14750, 07300, Ciudad de México, Mexico

    H. Sira-Ramírez, E. W. Zurita-Bustamante, M. A. Aguilar-Orduña & E. Hernández-Flores

Authors
  1. H. Sira-Ramírez
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  2. E. W. Zurita-Bustamante
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  3. M. A. Aguilar-Orduña
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  4. E. Hernández-Flores
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Correspondence to H. Sira-Ramírez .

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Editors and Affiliations

  1. Centro de Investigaciones Económicas, Administrativas y Sociales, Instituto Politécnico Nacional, Mexico city, Mexico

    Julio B. Clempner

  2. Department of Automatic Control, Center for Research and Advanced Studies, Mexico city, Mexico

    Wen Yu

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Sira-Ramírez, H., Zurita-Bustamante, E.W., Aguilar-Orduña, M.A., Hernández-Flores, E. (2018). Sliding Mode Control Devoid of State Measurements. In: Clempner, J., Yu, W. (eds) New Perspectives and Applications of Modern Control Theory. Springer, Cham. https://doi.org/10.1007/978-3-319-62464-8_4

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  • DOI: https://doi.org/10.1007/978-3-319-62464-8_4

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