Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems

被引：18
作者：
Asl, Reza Mohammadi [1 ]
Hagh, Yashar Shabbouei [1 ]
Palm, Rainer [2 ]
Handroos, Heikki [1 ]
机构：
[1] LUT Univ, Dept Mech Engn, Lab Intelligent Machines, FI-53850 Lappeenranta, Finland
[2] Orebro Univ, Ctr Appl Autonomous Sensor Syst AASS, SE-70182 Orebr, Sweden
来源：
IEEE ACCESS | 2019年 / 7卷
关键词：
Integral non-singular terminal sliding mode controller; Lyapunov stability; robotic manipulator; servo-hydraulic system; trajectory tracking; SERVO-HYDRAULIC SYSTEM; TRAJECTORY TRACKING; IDENTIFICATION;
D O I：
10.1109/ACCESS.2019.2930798
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the control system is demonstrated for both second-order and nth-order systems by using the Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed.
引用
收藏
页码：102792 / 102802
页数：11
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