Global Stability and Simultaneous Compensation of State and Output Delays for Nonlinear Systems via Output-Feedback Sliding Mode Control

[摘要] This paper proposes a sliding mode control scheme for a class of nonlinear systems with multiple time delays, in the state variables and in the output signal. The unmeasured state of the system is estimated by an asymptotic observer for the zero dynamics and by cascaded high-gain observers for a chain of integrators with a nonlinear input disturbance which compose the complete state. Global asymptotic stability of the closed-loop system is obtained using only output feedback. The use of observers prevents undesirable chattering phenomena. Simulation results show effective performance in different scenarios, including application to missile guidance in the presence of seeker delays...

[学科分类] 自动化工程

[关键词] Variable-structure control ;Sliding mode control ;Output feedback ;Time delay ;Nonlinear systems ;Global stability ;Norm observer ;Cascade high-gain observers