Study on second-order sliding mode control law for affine nonlinear system

[1] tkin V I. Variable structure systems with sliding modes[J]. IEEE Trans Automat Contr,1977,22(2):212~222 [2] Utkin V I. Variable structure systems:present and future[J]. Automat Remote Contr, 1983,44 (9):1105~1120 [3] Hung J Y, Gao W B, Hung J C. Variable structure control:a survey[J]. IEEE Trans Ind Electron, 1993, 40:2~22 [4] Yeung K S, Chen Y P. A new controller design for manipulators using the theory of variable structure systems [J]. IEEE Trans Automat Contr, 1988,33:200~206 [5] Yu H, Seneviratne L D, Earles S W E. Exponentially stable robust control law for robot manipulators . In:IEE Proc Control Theory Application , 1994.389~395 [6] Kachroo P, Tomizuka M. Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems [J]. IEEE Trans Automat Contr, 1996, 41(7):1063~1068 [7] Chen M S, Hwang Y R, Tomizuka M. A state-dependent boundary layer design for sliding mode control [J]. IEEE Trans Automat Contr, 2002, 47(10):1677~1681 [8] Elmali H, Olgac N. Robust output tracking technique[J]. Automatica, 1992,28:145~151 [9] Chiacchiarini H G, Desages A C. Variable structure control with a second-order sliding condition:application to a steam generator [J]. Automatica, 1995, 131(8):1157~1168 [10] Bartolini G, Ferrara A, Usai E. Chattering avoidance by second-order sliding mode control [J]. IEEE Trans Automat Contr, 1998, 43(2):241~246 [11] Bartolini G, Ferrara A, Usai E. On multi-input chattering-free second-order sliding mode control [J]. IEEE Trans Automat Contr, 2000, 45(9):1711~1717