Backstepping Control of Nonlinear Uncertain System Using Sliding Mode Differentiator

This paper deals with a sliding mode differentiator based-backstepping control applied to a nonlinear uncertain dynamic system. The differentiator is integrated in order to estimate the tracking error derivatives. The principal goals of this method are ameliorating control performance and minimizing sensors number. Two types of tracking error are studied: a classical form and a PID form. Simulation results prove the control technique robustness against parametric uncertainties for both types of error tracking.