Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces

被引:8
作者
Yorgancioglu, Ferhun [1 ]
Redif, Soydan [2 ]
机构
[1] European Univ Lefke, Dept Software Engn, Fac Engn, Lefke, Northern Cyprus, Turkey
[2] European Univ Lefke, Fac Engn, Dept Elect & Elect Engn, Lefke, Northern Cyprus, Turkey
关键词
Sliding-mode control; terminal sliding mode; fast nonsingular terminal sliding mode; decoupled control; time-varying sliding surfaces; fourth-order systems; VARIABLE STRUCTURE CONTROL; NONLINEAR-SYSTEMS; INVERTED PENDULUM; ROBUST-CONTROL; TRACKING;
D O I
10.3906/elk-1805-75
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper, a fast form of nonsingular, terminal, decoupled, sliding-mode control, which utilizes time-varying sliding surfaces, is proposed for a class of fourth-order, single-input, multioutput, nonlinear systems. The novel control law features a fast term, in the manner of fast terminal sliding-mode control, which markedly improves the finite-time sliding-mode convergence speed near zero. Numerical simulation results, which are illustrated with a cart-pole inverted pendulum system and a ball-beam system, demonstrate that the proposed control law achieves, in general, favorable transient response and lower steady-state errors compared to state-of-the-art decoupled terminal sliding-mode control methods.
引用
收藏
页码:1922 / 1937
页数:16
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