Design of dynamic sliding mode tracking controller for a class of hysteretic models

Aiming at a class of typical dynamic hysteretic models, a kind of sliding mode tracking controller based on dynamic sliding mode principle is proposed. A dual-phase convergent process is implemented by constructing an auxiliary sliding mode variable. A dynamic sliding mode control (DSMC) law is introduced and the condition of controller parameters to be satisfied is given to guarantee the finite-time convergence of the system states. The simulation results show the validity of the DSMC for this kind of nonlinear dynamic model of PEA.