We study the disturbance rejection properties of recent and classical sliding-mode approaches with respect to unmatched disturbances. We consider nonlinear systems with arbitrary relative degree subject to various configurations of unmatched disturbances. The disturbances are state-dependent, time-varying, or a combination of both. For our analysis, we choose to transform the system into Byrnes–Isidori form and discuss the impact of the disturbances on the relative degree and stability properties. We investigate the capability of the considered sliding-mode approaches to compensate the disturbances on a given output of interest. In a comprehensive case study, we illustrate the characteristics of each approach on various system configurations. Finally, we isolate several mechanisms that are responsible for the disturbance compensation in each case.
Compensation of Unmatched Disturbances via Sliding-Mode Control
A Comparison of Classical Results and Recent Methods Using Integral and Higher-Order Sliding-Mode
Studies in Systems, Decision and Control
2020-02-11
36 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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