Abstract
In this paper, we present a sliding-mode control approach for a two-order nonlinear system in the presence of input saturation and external disturbance. A robust control algorithm is constructed by using backstepping design techniques. Two well-defined smooth functions are introduced to approximate the primary functions so that they could be differential. To overcome the problem of input saturation, a new auxiliary design system and a Nussbaum function are incorporated into the control method. It is proved that the global stability of the closed-loop system can be guaranteed by the proposed control algorithm. A simulation example is included finally.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China (Grant No. 61374048) and the Research Fund for Doctoral Program of Higher Education of China (Grant No.20121102110008).
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Liu, J., Pi, C. (2015). Sliding-Mode Control of a Class of Nonlinear Systems in the Presence of Input Saturation. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 337. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46463-2_47
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DOI: https://doi.org/10.1007/978-3-662-46463-2_47
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