DYNAMICAL ADAPTIVE SLIDING MODE OUTPUT TRACKING CONTROL OF A CLASS OFNONLINEAR-SYSTEMS

An alternative adaptive scheme to achieve output tracking for a class of minimum-phase dynamically input-output linearizable nonlinear syste ms with parametric uncertainties is considered. The proposed approach is based upon a combination of the adaptive backstepping design method and a sliding mode control (SMC) scheme to design dynamical adaptive sliding mode controllers and provide robust output tracking even in th e presence of unknown disturbances, The validity of the proposed appro ach, regarding tracking objectives and robustness with respect to boun ded stochastic perturbation inputs, is tested through digital computer simulations. (C) 1997 by John Wiley & Sons, Ltd.