A Lyapunov-based approach for recursive continuous higher order nonsingular terminal sliding-mode control
journal contributionposted on 2021-11-19, 11:34 authored 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.
National Natural Science Foundation of China under Grant 61973080, Grant 61973081, Grant 61633003 and Grant 62025302
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering
Published inIEEE Transactions on Automatic Control
Pages4424 - 4431
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
VersionAM (Accepted Manuscript)
Rights holder© IEEE
Publisher statementPersonal 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.
DepositorDr Jun Yang. Deposit date: 18 November 2021
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ManifoldsClosed loop systemsLyapunov methodsNonlinear systemsTransient analysisStability criteriaToolsContinuous finite-time controlLyapunov stabilitynonlinear systemsrecursive higher order nonsingular terminal sliding modeScience & TechnologyTechnologyAutomation & Control SystemsEngineering, Electrical & ElectronicEngineeringFINITE-TIME STABILIZATIONGLOBAL STABILIZATIONSYSTEMSIndustrial Engineering & AutomationApplied MathematicsElectrical and Electronic EngineeringMechanical Engineering