Direct discretization of second order sliding mode control for uncertain nonlinear systems

2002 ◽  
Author(s):  
G. Bartolini ◽  
A. Pisano ◽  
E. Usai
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
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.

Output Feedback Second-Order Sliding Mode Control for a Class of Nonlinear Systems With Non-Matched Uncertainties

2000 ◽  
Vol 123 (3) ◽  
pp. 317-323 ◽  
Author(s):  
Antonella Ferrara ◽  
Luisa Giac¸omini
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Second Order ◽  
Observation Error ◽  
Mode Control ◽  
Sliding Manifold ◽  
Second Order Sliding Mode

The problem of the design of an output feedback second-order sliding mode control for a class of nonlinear systems affine in the control law with non-matched uncertainties is considered in this paper. An observer-based backstepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a tracking control objective. The construction of the sliding manifold is performed so that the problem of steering the sliding quantity to zero in finite time turns out to be solvable locally through a second-order sliding mode control approach, as in the conventional matched uncertainty case, and the associated zero dynamics is minimum phase. On the other hand, the observer operates in first-order sliding mode, also fed by the control signal generated by the backstepping-second-order sliding mode algorithm. This signal presents the advantage of being continuous by virtue of the second-order sliding mode nature of the controller, enabling the fast convergence to zero of the observation error.

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