Robust Output Trajectory Tracking for Uncertain Mechanical Systems: a Continuous Integral Sliding Mode Approach

The trajectory tracking based on a linearization approach for mechanical systems by using only output information and considering the presence of matched uncertainties/perturbations is presented. To achieve asymptotic tracking of a given continuous time-varying reference a time-varying continuous integral sliding mode controller is used. This controller guarantees the exact compensation of matched uncertainties/perturbations in finite-time. The states are reconstructed theoretically exactly in finite-time by using a sliding mode based observer. The proposed approach is validated by simulation.