%0 Journal Article
%T Rastreamento global via controle por modos deslizantes e observador com ganho dinamico
%A Peixoto
%A Alessandro Jacoud
%A Hsuz
%A Liu
%A Oliveira
%A Tiago Roux
%J Sba: Controle & Automa£¿£¿o Sociedade Brasileira de Automatica
%D 2011
%I Sociedade Brasileira de Autom¨¢tica
%R 10.1590/S0103-17592011000300008
%X a novel output-feedback sliding mode control (smc) strategy is proposed for a class of single-input-singleoutput (siso) uncertain time-varying nonlinear systems for which a norm state estimator can be implemented. such a class encompasses minimum-phase systems with nonlinearities afinely norm bounded by unmeasured states with growth rate depending nonlinearly on the measured system output and on the internal states related with the zero-dynamics. the sliding surface is generated by using the state of a high gain observer (hgo) while a peaking free control amplitude is obtained via norm observer. in contrast to the existing semi-global smc solutions available in the literature for the class of plants considered here, the proposed scheme is free of peaking and achieves global tracking with respect to a small residual set. the key idea is to design a time-varying hgo gain implementable only from measurable signals.
%K uncertain nonlinear systems
%K sliding mode control
%K output-feedback
%K global tracking
%K high gain and norm observer.
%U http://www.scielo.br/scielo.php?script=sci_abstract&pid=S0103-17592011000300008&lng=en&nrm=iso&tlng=en