Knowing that the Backstepping and Sliding modes are controllers specially dedicated to the non-linear systems. Also, these controllers can be combined to form a controller called Backstepping-Slide mode.
My questions are as follows:
What is the difference between these two controllers ?
What is the advantage and disadvantage of each of these controllers ?
What is the purpose of combining these two controllers into a single hybrid controller ?
Thank you in advance !
Advantages of SMC
· Insensitive to external disturbances
· Robustness and ability to handle nonlinearities
· Stability is guaranteed by Lyapunov function
· Controller structure is simple and easily tunable
· Helps in removing steady state error if integrated with integral action
Disadvantages of SMC
· Chattering effect
· High-frequency noise produces sensor drift.
· No finite time convergence
........
Advantages of Backstepping
· Ability to handle uncertainties to a certain level
· Asymptotic convergence
· Lyapunov-based stability and design procedure
Disadvantages of Backstepping
· Needs information about all system states
· Calculation explosion
· Produces larger magnitude of control signal
· Existence of steady state error
Understood, thank you Dr. @Laabdi for your precise and precious answers.
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