An application of sliding mode control to the determination of system orders

REFERENCES

• AHANDA-BRICAIRE , E. , MOOG , C. H. , and POMET , J. B. , 1993 , Feedback linearization a linear algebraic approach . Proceedings of the 32nd IEEE Conference on Decision and Control, San Antonio, Texas, December 1993 , pp. 3441 – 3446 ; 1995, A linear algebraic framework for dynamical feedback linearization. IEEE Transactions on Automatic Control, 40, 127–132 .
   Google Scholar
• DIBINEDETTO , M. D. , GRIZZLE J. W. , and MOOG , C. H. , 1989 , Rank invariants of nonlinear systems. SIAM Journal of Control and Optimization , 27 , 658 – 672 .
   Google Scholar
• DIOP , S. , GRIZZLE , J. , MORAL , P. E. , and STEFANOPOULOU , A. , 1994 , Interpolation and numerical differentiation for observer design, to be published .
   Google Scholar
• DRAKUNOV , S. V. , and UTKIN , V. I. , 1990 , On discrete-time sliding modes . Nonlinear Control Systems Design, edited by A . Isidori, IFAC Symposia Series, Number 2 .
   Google Scholar
• FLIESS , M. , LEVINE , J. , MARTIN , P. , and ROUCHON , P. , 1992 a , Sur les systemes lineaires differentiellement plats . C.R. Acad. Sci. Paris , 315 , Serie I , 619 – 624 ; 1992 b, On differentially flat nonlinear systems," in Proc. of the IFAC-Symposium NOLCOS'92, Bordeaux, pp. 408–412; 1993, Defaut d'un systeme non lineaire et commande haute frequence. C.R. Acad. Sci. Paris, 316 Serie I, 513–518 .
   Google Scholar
• GLUMINEAU , A. , and MOOG , C. H. , 1989 , The essential orders and nonlinear decoupling. International Journal of Control , 50 , 1825 – 1834 .
   Web of Science ®Google Scholar
• GRIZZLE , J. W. , 1993 , A linear algebraic framework for the analysis of discrete-time nonlinear systems. SIAM Journal of Control and Optimization , 31 , 1026 – 1044 .
   Web of Science ®Google Scholar
• HAMERLAIN , M. , TONDU , B. , MIRA , CH. , and LOPEZ , P. , 1991 , Variable Structure model reference adaptive control for an actuator with artificial antagonistic muscles. Workshop on Variable Structure of Power Conversion Systems, IEEE-VARSCON'91, Reno , Nevada .
   Google Scholar
• INOUE , K. , 1987 , Rubbertuators and applications for robots. Proceedings ofthe 4th International Symposium on Robotics Research .
   Google Scholar
• ISIDORI , A. , 1990 , Nonlinear Control Systems ( New York Springer-Verlag ).
   Google Scholar
• LOPEZ , P. , NOURI , A. S. , and SIRA-RAMIREZ , H. , 1994 , On the order of observable monovariable systems obtained by sliding switching control strategies. Mathmod Vienna IMACS, Modelling and Simulation in Robotics and Control, February .
   Google Scholar
• MOOG , C. H. , PERDON , A. M. , and CONTE , C. H. , 1991 , Model matching and factorization for nonlinear systems a structural approach . SIAM Journal of Control and Optimization , 29 , 769 – 785 .
   Google Scholar
• NOURI , A. S. , 1994 , Generalisation du regime glissant et de la commande a structure variable;applications aux actionneurs classiques et a muscles artificiels. These Doctoral, Institut National des Sciences Appliquees de Toulouse, Toulouse .
   Google Scholar
• POMET , J. B. , MOOG , C. H. , and ARANDA , E. , 1992 , A non-exact Brunovsky form and dynamic feedback linearization . Proceedings of the 3Jsi IEEE Conference on Decision and Control , Vol. 2 , pp. 2012 – 2017 , Tucson , Arizona .
   Google Scholar
• SiRA-RAMirez , H. , Differential geometric methods in variable structure control . Internationa Journal of Control , 48 , 1359 – 1391 ; 1990, Structure at infinity, zero dynamics and normal forms of systems undergoing sliding motions. International Journal of Systems Science, 21, 665–674; 1992, On the sliding mode control of nonlinear systems. Systems and Control Letters, 19, 302–312; 1994, On the sliding mode control of multivariable nonlinear systems. International Journal of Control, to be published .
   Google Scholar
• SIRA-RAMJREZ , H. , LOPEZ , P. , and TONDU , B. , 1994 , On the robust stabilization and tracking for robotic manipulators with artificial muscles. Dynamics and Control , to be published.
   Google Scholar
• TONDU , B. , and LOPEZ , P. , 1994 , Theory of an artificial pneumatic muscle and application to the modelling of McKibben artificial muscle . C.R. Acad. Sci. Paris, to be published.
   Google Scholar
• UTKIN , V. I. , 1978 , Sliding RegimesTheir Applications in Variable Structure Systems ( Moscow MIR Editors ); 1992 .
   Google Scholar