Global Finite-Time Controller Design for HOSM Dynamics Subject to Upper-Triangular Structure

• Published in: IEEE transactions on circuits and systems. I, Regular papers Vol. 69; no. 9; pp. 3701 - 3714
• Main Authors: Liu, Lu, Zheng, Wei Xing, Ding, Shihong
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: adding a power integrator; Backstepping; Control methods; Control systems design; Controllers; finite-time stable; Heuristic algorithms; high-order sliding mode; Integrated circuits; Lyapunov methods; Nonlinear systems; Nonlinearity; Robustness; Saturation; Stability analysis; Uncertainty; Upper-triangular system
• ISSN: 1549-8328; 1558-0806
• DOI: 10.1109/TCSI.2022.3175427

In this paper, a novel saturation-based control method is proposed for high-order sliding mode (HOSM) dynamics with upper-triangular nonlinearities. Firstly, a new HOSM dynamics with upper-triangular nonlinearities is constructed based on the traditional HOSM dynamics, so as to reduce the uncertainties in the control input channel. Then, a HOSM controller is established by means of the adding a power integrator method such that the new HOSM dynamics is locally stabilized. Finally, the saturation-based controller is constructed by a combination of the saturation technique and the local HOSM controller to guarantee that the sliding variables can converge into a domain of attraction in a finite time and retain inside it thereafter. The rigorous stability analysis is made by the Lyapunov theory. A simulation example is also given to demonstrate the effectiveness of the proposed method.