Scholarlink

<p>This paper addresses the problem of robust output tracking for a class of nonlinear multivariable systems subject to strong nonlinearities, model uncertainties, and external disturbances. An output-feedback control strategy combining a High-Gain Observer (HGO) and a Higher-Order Sliding Mode Controller (HOSMC) is proposed. The observer is employed to estimate the unmeasured system states required for controller implementation. Using these estimated states, the HOSMC guarantees finite-time convergence of the tracking error while preserving robustness against bounded perturbations. In addition, the proposed approach significantly attenuates the chattering phenomenon commonly associated with conventional Sliding Mode Control (SMC). Rigorous stability analysis is carried out using Lyapunov and Input-to-State Stability (ISS) arguments, accounting explicitly for the observer-induced estimation errors. The effectiveness and robustness of the proposed strategy are demonstrated through numerical simulations on the Four-Tank Process (FTP) benchmark, where accurate tracking, smoother control signals, and strong disturbance rejection are achieved compared to the Super-Twisting Sliding Mode Controller (STSMC).</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Output Feedback Higher-Order Sliding Mode Controller for a Class of Nonlinear Systems

  • 期刊论文

  • 发表日期：

    2026年8月4日

查看全文
  • Abderraouf Gaaloul,
  • Faouzi M’Sahli

摘要

This paper addresses the problem of robust output tracking for a class of nonlinear multivariable systems subject to strong nonlinearities, model uncertainties, and external disturbances. An output-feedback control strategy combining a High-Gain Observer (HGO) and a Higher-Order Sliding Mode Controller (HOSMC) is proposed. The observer is employed to estimate the unmeasured system states required for controller implementation. Using these estimated states, the HOSMC guarantees finite-time convergence of the tracking error while preserving robustness against bounded perturbations. In addition, the proposed approach significantly attenuates the chattering phenomenon commonly associated with conventional Sliding Mode Control (SMC). Rigorous stability analysis is carried out using Lyapunov and Input-to-State Stability (ISS) arguments, accounting explicitly for the observer-induced estimation errors. The effectiveness and robustness of the proposed strategy are demonstrated through numerical simulations on the Four-Tank Process (FTP) benchmark, where accurate tracking, smoother control signals, and strong disturbance rejection are achieved compared to the Super-Twisting Sliding Mode Controller (STSMC).