Abstract
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.
Published Version
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