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- W1995872144 abstract "A novel backstepping sliding mode control with guaranteed L <inf xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>∞</inf> tracking performance is proposed for a class of typical uncertain strict-feedback nonlinear systems. Inspired by dynamic surface control, the introduction of a low-pass filter avoids the problem of explosion of terms in traditional backstepping design, and instead of the sign function in the sliding mode controller, a continuously differentiable hyperbolic tangent function is used to eliminate the chattering in sliding mode control. Semi-global stability of the closed-loop system is proved based on Lyapunov stability theory. By appropriately choosing design parameters and initializing error variables, the exact relationship between L <inf xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>∞</inf> performance of the tracking error and designing parameters is established, and the L <inf xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>∞</inf> performance of the tracking error is guaranteed. Simulation results demonstrate the effectiveness of the proposed approach." @default.
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- W1995872144 date "2014-06-01" @default.
- W1995872144 modified "2023-09-27" @default.
- W1995872144 title "A novel backstepping sliding mode dynamic surface control" @default.
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- W1995872144 doi "https://doi.org/10.1109/wcica.2014.7053522" @default.
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