Second-Order Sliding Mode Controller Design Subject to an Upper-Triangular Structure

The second-order sliding mode (SOSM) controller design problem for a class of sliding mode dynamics subject to an upper-triangular structure has been discussed in this paper. The proposed SOSM controller design involves two steps. First, a Lyapunov-based SOSM controller is developed by using the add...

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Bibliographic Details
Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 51; no. 1; pp. 497 - 507
Main Authors Mei, Keqi, Ding, Shihong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Closed loop systems
Control systems design
Controllers
Convergence
Dynamic stability
Finite-time stability
Heuristic algorithms
Lyapunov method
Saturation
second-order sliding mode (SOSM)
Sliding mode control
Stability analysis
Switches
Uncertainty
upper-triangular system
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Summary:The second-order sliding mode (SOSM) controller design problem for a class of sliding mode dynamics subject to an upper-triangular structure has been discussed in this paper. The proposed SOSM controller design involves two steps. First, a Lyapunov-based SOSM controller is developed by using the adding a power integrator technique to locally finite-time stabilize the sliding variables. Second, by combining the local SOSM controller with a saturation function, a novel SOSM controller with a saturation level is constructed. The feature of the new SOSM controller lies in that the saturation level can be tuned not only to guarantee the global convergence but also to improve the dynamic performance. Lyapunov analysis has been utilized to test the finite-time stability of the closed-loop sliding mode dynamics. The proposed method is eventually demonstrated by simulation results.
ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2018.2875267