High-Order Sliding-Mode Control With Predefined Convergence Time for Electropneumatic Actuator

In this brief, a control technique is proposed to achieve finite-time trajectory tracking of the position of a perturbed electropneumatic actuator. This controller guarantees the convergence at exactly a predefined convergence time t(F). It is based on the integral sliding-mode concept, and is composed of two terms: a first one named nominal control which is designed to obtain desired performances (convergence time) for the disturbance free system, and a second robust control, based on super-twisting algorithm for the disturbance compensation. This brief presents its practical implementation to an electropneumatic actuator, in single-output (SISO) and multi-input multi-output (MIMO) contexts. The robustness of the control law is discussed with respect to external disturbances.