Robust control of nonlinear uncertain systems via sliding mode with backstepping design.
Rabia BenayacheLarbi Chrifi-AlaouiA. BenamorXavier DovifaazPascal BussyPublished in: ACC (2010)
Keyphrases
- sliding mode
- variable structure
- control strategy
- control law
- stability analysis
- nonlinear systems
- controller design
- control theory
- adaptive control
- control system
- robust stability
- parameter uncertainties
- robot manipulators
- control scheme
- external disturbances
- nonlinear dynamics
- optimal control
- sliding mode controller