Multi-Mode Backstepping Sliding Mode Control for Nonlinear Systems with Unmatched Uncertainties
不确定非线性系统的多模反演滑模控制

In this paper, a new method is proposed for designing stable controllers with arbitrarily small tracking error for nonlinear systems with unmatched uncertainties. The proposed approach is based upon a combination of the backstepping design method and the variable structure control scheme to design backstepping VS controller and provide robust output tracking even in the presence of unknown disturbance. The closed loop systems reach the sliding surface in a finite time. Simulations are provided to illustrate the performance of the controller.