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A Lyapunov-based approach for recursive continuous higher order nonsingular terminal sliding-mode control

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journal contribution
posted on 19.11.2021, 11:34 by Jun YangJun Yang, Xinghuo Yu, Lu Zhang, Shihua Li
A recursive continuous higher-order nonsingular terminal-sliding-mode (TSM) controller is proposed in this paper for nonlinear systems. A new integral TSM manifold is constructed in a recursive manner by modifying the tool of adding a power of integrator instead of exploring nonrecursive design directly. A super-twisting like reaching law is designed to achieve continuous control action without sacrificing disturbance rejection specification as that in boundary-layer approaches. By the new Lyapunov-based design, the proposed control method admits the following new features: 1) rather than imposing some existence condition for nonrecursive design, the proposed method admits the certainty for chosen fractional power to guarantee the finite-time stability of the closed-loop system; 2) an explicit Lyapunov function approach is proposed to establish finite-time stability of the closed-loop system; and 3) The proposed method is shown to be tunable to exhibit desired transient performance and control energy restriction.

Funding

National Natural Science Foundation of China under Grant 61973080, Grant 61973081, Grant 61633003 and Grant 62025302

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Automatic Control

Volume

66

Issue

9

Pages

4424 - 4431

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Acceptance date

13/12/2020

Publication date

2020-12-24

Copyright date

2021

ISSN

0018-9286

eISSN

1558-2523

Language

en

Depositor

Dr Jun Yang. Deposit date: 18 November 2021