Design of an Asymptotic Sliding Mode Algorithm for Nonlinear Systems: An Observer Based Approach

Using the concept of dynamic sliding mode control, an asymptotic robust controller for high order nonlinear systems is presented. In this approach, a n-order nonlinear system is transformed into a first order system through systematic backstepping design and then it will be shown that the control objective is equivalent to design a robust control law for a 2 order auxiliary system with only output information available. To get an extra state value, a robust asymptotic observer was integrated into design process that results in an asymptotic sliding mode control algorithm. The proposed method not only preserves some features of conventional sliding mode theory but attenuates undesirable chattering action as well. A numerical example was utilized to demonstrate the applicability of the developed approach.