HOSM controller design with an output constraint and its application

• Published in: ISA transactions Vol. 116; pp. 71 - 80
• Main Authors: Mei, Keqi, Ding, Shihong
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01.10.2021
• Subjects: Barrier Lyapunov function; Finite-time stability; High-order sliding mode; Output constraint; Barrier Lyapunov function; Finite-time stability; Output constraint; High-order sliding mode
• ISSN: 0019-0578; 1879-2022
• DOI: 10.1016/j.isatra.2021.01.044

This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API) technique, a HOSM controller, which can handle the closed-loop sliding mode dynamics synchronously with and without output constraints, is constructively framed. The strictly mathematical proof shows that the presented strategy can assure the finite-time stability of the closed-loop system and the achievement of a pre-set output constraint. The differences between the proposed HOSM controller and the traditional HOSM controller are discussed via a numerical example. Finally, the theoretical results obtained are successfully applied to a series elastic actuator system. The simulation results clearly confirm the merit of the presented HOSM algorithm. •By implanting BLF into API technique, a HOSM controller design scheme is developed.•The strategy can handle the HOSM dynamics with and without output constraints.•The HOSM controller ensures the system finite-time stability with output constraints.