Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems

被引：606
|
作者：
Yang, Liang [1 ]
Yang, Jianying [1 ]
机构：
[1] Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Dept Mech & Aerosp Engn, Beijing 100871, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2011年 / 21卷 / 16期
关键词：
terminal sliding mode; fast convergence rate; singularity; Lyapunov stability; nonlinear systems; CONTROL DESIGN;
D O I：
10.1002/rnc.1666
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 (C) 2010 John Wiley & Sons, Ltd.
引用
收藏
页码：1865 / 1879
页数：15
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