Global Output Feedback Sliding Mode Control of Nonlinear Systems with Multiple Time Delays
نویسندگان
چکیده
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 high-gain observers connected in cascade for a chain of integrators with a nonlinear input disturbance which compose the complete state. The proposed control strategy guarantees global asymptotic stability of the closed-loop system using only output feedback. The use of observers prevents undesirable chattering phenomena. Simulation results illustrate the effectiveness of this scheme.
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