Abstract:Sliding Mode Control of Uncertain Multivariable Nonlinear Systems Applied to Uncalibrated Robotics Visual Servoing An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed for multivariable systems with strong nonlinearities. The monitoring scheme is extended to handle the uncertainty of the plant high frequency gain matrix. Our strategy provide… Show more
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