Stabilization of Uncertain Nonlinear Systems via Immersion and Invariance based Sliding Mode Control

Abstract

This paper introduces a new methodology for stabilization of uncertain nonlinear system using immersion and invariance (II) based sliding mode control. The attractivity of the manifold ensures the reflection of the desired system behavior by II principle for the nominal system. Higher-order sliding mode of an arbitrary rth order is invoked to replace the stabilizing control law of an output regulator theory to derive the off-the-manifold with completely controlling the disturbance/uncertainties in finite-time. This makes the system more systematic to achieve the equilibrium point asymptotically. Finally, the validation of proposed strategy is tested on a magnetic-levitation system. © 2018 IEEE.