Abstract

This paper deals with the problem of robust Sliding Mode Control (SMC) of uncertain nonlinear dynamic systems. The uncertainties being norm bounded in both state and input matrices as well as norm bounded nonlinearity. Sufficient conditions using Linear Matrix Inequalities (LMIs) are derived to guarantee the existence of linear sliding surface and the quadratic stability of the reduced-order equivalent dynamic system restricted to the sliding surface. Thus, one can design a continuous nonlinear control strategy ensuring a sliding motion despite the presence of uncertainties. We analysis and applies the designed controller to a flexible joint robotic system, in which the simulations results are validate its effectiveness and good performance.

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