Abstract
This paper considers the robust tracking control problem of nonlinear singleinput single-output (SISO) systems with parametric uncertainty and disturbance. Firstly, a continuous second-order time-varying sliding mode control (STVSMC) law is proposed. The advantages of the proposed STVSMC are twofold. The global second order sliding mode is established, which implies that the closed-loop system is global robust against matched parameter uncertainty and disturbance. Meanwhile, the chattering problem is significantly alleviated. Then, to guarantee the system error converge to zero in finite time, a finite-time-convergent STVSMC (F-STVSMC) law is presented, where a fast terminal sliding mode item is introduced in the second-order time-varying sliding function design. Finally, the effectiveness of the proposed control strategies is demonstrated by simulation results.
Original language | English |
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Pages (from-to) | 1683-1690 |
Number of pages | 8 |
Journal | ICIC Express Letters, Part B: Applications |
Volume | 4 |
Issue number | 6 |
Publication status | Published - 2013 |
Keywords
- Finite-time-convergence
- Global chattering alleviation
- Global second order sliding phase
- Nonlinear systems
- Sliding mode control