Adjustment of high-order sliding-mode controllers

被引：67

作者：

Levant, Arie ^{[1
]}

Michael, Alon ^{[1
]}

机构：

[1] Tel Aviv Univ, Dept Appl Math, IL-69978 Tel Aviv, Israel

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2009年 / 19卷 / 15期

关键词：

uncertainty; sliding order; sliding mode; robustness; tracking systems; SYSTEMS; STABILIZATION;

D O I：

10.1002/rnc.1397

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Long-lasting problems of high-order sliding-mode (HOSM) design are solved. Only local uncertainty suppression was previously obtained in the case when the dynamic system uncertainties are unbounded. This restriction is removed in this paper. A universal method is proposed for the proper controller parameter adjustment based on the homogeneity approach. The method allows making the finite-time convergence arbitrarily fast or slow. In addition, a HOSM regularization procedure is proposed diminishing chattering. Computer simulation confirms the theoretical results. Copyright (C) 2008 John Wiley & Sons, Ltd.

引用

页码：1657 / 1672

页数：16

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