Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

2000 ◽  
Vol 45 (7) ◽  
pp. 1334-1341 ◽  
Author(s):  
G. Bartolini ◽  
A. Ferrara ◽  
L. Giacomini ◽  
A. Usai
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Second Order ◽  
Uncertain Nonlinear Systems ◽  
Mode Control ◽  
Second Order Sliding Mode

scholarly journals Novel Nonsingular Fast Terminal Sliding Mode Control for a Class of Second-Order Uncertain Nonlinear Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Huihui Pan ◽  
Guangming Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This paper presents a novel nonsingular fast terminal sliding mode control scheme for a class of second-order uncertain nonlinear systems. First, a novel nonsingular fast terminal sliding mode manifold (NNFTSM) with adaptive coefficients is put forward, and a novel double power reaching law (NDP) with dynamic exponential power terms is presented. Afterwards, a novel nonsingular fast terminal sliding mode (NNFTSMNDP) controller is designed by employing NNFTSM and NDP, which can improve the convergence rate and the robustness of the system. Due to the existence of external disturbances and parameter uncertainties, the system states under controller NNFTSMNDP cannot converge to the equilibrium but only to the neighborhood of the equilibrium in finite time. Considering the unsatisfying performance of controller NNFTSMNDP, an adaptive disturbance observer (ADO) is employed to estimate the lumped disturbance that is compensated in the controller in real-time. A novel composite controller is presented by combining the NNFTSMNDP method with the ADO technique. The finite-time stability of the closed-loop system under the proposed control method is proven by virtue of the Lyapunov stability theory. Both simulation results and theoretical analysis illustrate that the proposed method shows excellent control performance in the existence of disturbances and uncertainties.

Backward-Euler Discretization of Second-Order Sliding Mode Control and Super-Twisting Observer for Accurate Position Control

2013 ◽  
Author(s):  
Xiaogang Xiong ◽  
Ryo Kikuuwe ◽  
Motoji Yamamoto
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Backward Euler ◽  
Euler Discretization ◽  
Accurate Position ◽  
Second Order Sliding Mode

This paper introduces an accurate position control algorithm based on Backward-Euler discretization of a second-order sliding mode control (SOSMC) and the super-twisting observer (STO). This position control algorithm does not produce numerical chattering, which has been known to be a major drawback of explicit implementation of SOSMC and STO. It is more accurate than the conventional PID control that is also free of chattering. In contrast to conventional Backward-Euler discretization schemes of SOSMC and STO, the presented discretization method does not require any special solvers for computation. The accuracy and implementation of this algorithm are illustrated by simulations.

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