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A time-varying sliding surface for fast and robust tracking control of second-order uncertain systems. (English) Zbl 0800.93202


MSC:

93B12 Variable structure systems
93C15 Control/observation systems governed by ordinary differential equations
93B35 Sensitivity (robustness)
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[1] Choi, S. B.; Jayasuriya, S., A sliding mode controller incorporating matching conditions applied to manipulators, (Proceedings of the 10th IFAC World Congress, 4 (1987)), 290-295
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[3] Corless, M. J.; Leitmann, G., Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems, IEEE Trans. on Automatic Control, 26, 1139-1144 (1981) · Zbl 0473.93056
[4] Elmali, H.; Olgac, N., Robust output tracking control of nonlinear systems via sliding mode technique, Automatica, 28, 145-151 (1992)
[5] Fu, L. C.; Liao, T. L., Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator, IEEE Trans. on Automatic Control, 35, 1345-1350 (1990) · Zbl 0744.93019
[6] Slotine, J. J.; Sastry, S. S., Tracking control of non-linear systems using sliding surfaces with application to robot manipulators, Int. J. of Control, 38, 465-492 (1983) · Zbl 0519.93036
[7] Utkin, V. I., Variable structure systems with sliding modes, IEEE Trans. on Automatic Control, 22, 212-222 (1977) · Zbl 0382.93036
[8] Young, K. K.D., Controller design for manipulator using theory of variable structure systems, IEEE Trans. on System, Man and Cybernetics, 8, 101-109 (1978) · Zbl 0369.93002
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