Passivity-based sliding mode control for input-affine nonlinear systems

A passivity-based robust control via second-order sliding mode for a class of input-affine nonlinear systems is presented in this paper. The proposed approach consists of: 1) a feedback control term that makes the closed-loop system passive w.r.t. an additional control input as well as 2) a robust control term using a second-order sliding mode approach to counteract the influence of system parameter uncertainty as well as unknown disturbances. Within a stability analysis, the stability conditions are derived and proved by means of Lyapunov techniques. Moreover, the proposed control approach is applied to the tracking control of the motor angular velocity for a hydrostatic transmission, which represents a typical nonlinear system with parameter uncertainty and unknown disturbances. The simulation and experimental results highlight the applicability of the proposed method.

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