A third‐order sliding mode controller for nonlinear multivariable systems

This paper proposes a third‐order sliding mode controller for nonlinear multivariable systems with uncertain parameters and subject to external disturbances. The controller achieves fast convergence rate, high tracking accuracy, and a reduced level of chattering. The stability of the controller and...

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Bibliographic Details
Published inAsian journal of control Vol. 25; no. 5; pp. 3559 - 3568
Main Authors Chawengkrittayanont, Panitnart, Moore, Elvin J., Kuntanapreeda, Suwat
Format Journal Article
LanguageEnglish
Published Hoboken Wiley Subscription Services, Inc 01.09.2023
Subjects
Controllers
Convergence
finite‐time convergence
Lyapunov theory
Multivariable control
multi‐input multi‐output system
Nonlinear control
Nonlinear systems
Parameter uncertainty
Sliding mode control
third‐order sliding mode control
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Summary:This paper proposes a third‐order sliding mode controller for nonlinear multivariable systems with uncertain parameters and subject to external disturbances. The controller achieves fast convergence rate, high tracking accuracy, and a reduced level of chattering. The stability of the controller and its global ultimately uniform convergence is proved by the Lyapunov stability theory. Simulation results on a single inverted pendulum system are given to illustrate the effectiveness of the proposed control scheme by comparing it with methods such as a second‐order supertwisting controller, a third‐order supertwisting controller, and an integral terminal third‐order sliding mode controller.
Bibliography:Funding information
Panitnart Chawengkrittayanont would like to acknowledge financial support from a Science Achievement Scholarship of Thailand (SAST).
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ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.3036