Abstract
This study focuses on the problem of robust output-sliding control design for a class of nonlinear time-varying systems. The switching functions are defined individually for each output channel and also prescribe the desired dynamics for the output errors in the sliding mode. An application to a two-degree-of-freedom manipulator indicates that the proposed switching control law drives the system state trajectories onto the chosen sliding mode in finite time and the output tracking can be achieved against a class of time-varying parameter variations and external disturbances.
