Lyapunov-based design for a class of variable-gain 2nd-sliding controllers with the desired convergence rate

被引：22

作者：

Cruz-Zavala, Emmanuel ^{[1
]}

Moreno, Jaime A. ^{[2
]}

Fridman, Leonid ^{[3
]}

机构：

[1] Univ Guadalajara, Ctr Univ Ciencias Exactas & Ingn, Guadalajara 44430, Jalisco, Mexico

[2] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City, DF, Mexico

[3] Univ Nacl Autonoma Mexico, Fac Ingn, Mexico City, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2018年 / 28卷 / 17期

关键词：

finite-time stability; fixed-time stability; Lyapunov-based methods; second-order sliding mode control; variable-gain controllers; SLIDING-MODE CONTROL; FINITE-TIME STABILITY; OUTPUT-FEEDBACK; CONTROL-SYSTEMS; ROBOTIC MANIPULATORS; STABILIZATION; HOMOGENEITY;

D O I：

10.1002/rnc.4310

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The aim of this paper is to propose a novel family of variable-gain second-order sliding mode controllers capable of dealing with uncertainties and disturbances that grow with the state. The proposed family provides exact compensation of perturbations having a known upper bound and generalizes some sliding controllers reported in the literature. A novelty of this work is that the designer is able to choose the desired convergence rate: semiglobal/global finite-time or fixed-time. The analysis and control design is completely based on a strict Lyapunov function, leading to an effective procedure to tune the gains.

引用

页码：5279 / 5296

页数：18

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