LAUSR

Abstract In this paper output constrained sliding mode control of nonlinear relative degree two systems is considered. The constraints are formulated with respect to the first derivative of the control variable. The system may be effected by matched disturbances. Only the uncertainty bounds are required to be known. A multi-controller approach with variable gains is proposed. The controller guarantees that the constraints can at most be violated for a finite-time, which can be shortened by tuning the controller parameters. Despite the action of the multiple controllers the tracking error of the approach is guaranteed to be bounded.