Non-singular fixed-time terminal sliding mode control of non-linear systems

• Published in: IET control theory & applications Vol. 9; no. 4; pp. 545 - 552
• Main Author: Zuo, Zongyu
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 26.02.2015
• Subjects: closed loop systems; closed‐loop convergence time; Construction equipment; Convergence; Dynamical systems; Lyapunov methods; Lyapunov tools; matched uncertainties; Methodology; nonlinear control systems; Nonlinear dynamics; nonsingular fixed‐time terminal sliding mode control; nonsingular terminal sliding surface; pendulums; Perturbation methods; perturbation techniques; perturbations; phase plane analysis; second‐order nonlinear systems; single inverted pendulum; Sliding mode control; Special Issue: Sliding-Mode Based Disturbance Estimation, Attenuation and Fault Detection; Terminals; uncertain systems; variable structure systems; perturbation techniques; uncertain systems; pendulums; nonsingular fixed-time terminal sliding mode control; second-order nonlinear systems; phase plane analysis; closed loop systems; matched uncertainties; nonsingular terminal sliding surface; nonlinear control systems; single inverted pendulum; Lyapunov tools; closed-loop convergence time; perturbations; variable structure systems; Lyapunov methods
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2014.0202

This study addresses a fixed-time terminal sliding-mode control methodology for a class of second-order non-linear systems in the presence of matched uncertainties and perturbations. A newly defined non-singular terminal sliding surface is constructed and a guaranteed closed-loop convergence time independent of initial states is derived based on the phase plane analysis and Lyapunov tools. The simulation results of a single inverted pendulum in the end are included to show the effectiveness of the proposed methodology.