Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems

This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, whi...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 21; no. 16; pp. 1865 - 1879
Main Authors Yang, Liang, Yang, Jianying
Format Journal Article
LanguageEnglish
Published Chichester, UK John Wiley & Sons, Ltd 10.11.2011
Subjects
Control systems
Convergence
Dynamical systems
fast convergence rate
Lyapunov stability
Nonlinear dynamics
nonlinear systems
Nonlinearity
Robots
singularity
Strategy
terminal sliding mode
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Summary:This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd.
Bibliography:istex:7C73258128EC6D603DC0ED3E292B2EADBAEF2AD0
ArticleID:RNC1666
ark:/67375/WNG-6VNKSGR9-C
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1049-8923
1099-1239
1099-1239
DOI:10.1002/rnc.1666