A Robust Global Exponential Stabilization of Uncertain Affine MIMO Nonlinear Systems with Mismatched Uncertainties by Multivariable Sliding Mode Control

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이정훈 (경상대학교)

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In this paper, a systematic design of a robust nonlinear multivariable variable structure controller based on state dependent nonlinear form is presented for the control of MIMO uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After a MIMO uncertain affine nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding diagonalized control input is proposed to satisfy the closed loop global exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

#MIMO uncertain nonlinear system #Variable structure system #Sliding mode control #Mismatched uncertainties