Sliding Mode Block Control of Uncertain Nonlinear Plants

Abstract

This paper combines the block control, sliding mode and high gain robust control techniques to form a stabilising control law for nonlinear systems with matched and unmatched uncertainties. A generalised observer is presented to cater for plants subjected to an unknown matched disturbance. The approach is applied to form a non-chatiering sliding-mode observer-based control law for robotic manipulators driven by DC motors.