Discontinuous Homogeneous Control

摘要: Control under heavy uncertainty conditions remains among the main topics of control theory. The sliding-mode [50, 53, 10] is one tools in field. This approach based on exactly keeping a properly chosen constraint by means switching high (theoretically infinite) frequency. Although very robust and accurate, has two basic restrictions. direct implementation standard sliding modes requires relative degree to be 1, i.e. appear explicitly already first total time derivative function. Also, high-frequency may cause so-called chattering effect [14, 15, 16, 33].