Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 66, Issue 9, Pages 4424-4431Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3047145
Keywords
Manifolds; Closed loop systems; Lyapunov methods; Nonlinear systems; Transient analysis; Stability criteria; Tools; Continuous finite-time control; Lyapunov stability; nonlinear systems; recursive higher order nonsingular terminal sliding mode
Funding
- National Natural Science Foundation of China [61973080, 61973081, 61633003, 62025302]
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A recursive continuous higher order nonsingular terminal sliding-mode (TSM) controller is proposed for nonlinear systems, with a new integral TSM manifold constructed in a recursive manner. The design features a super-twisting like reaching law and a new Lyapunov-based approach to ensure finite-time stability, while also being tunable for desired transient performance and control energy restriction.
A recursive continuous higher order nonsingular terminal sliding-mode (TSM) controller is proposed in this article 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: first, 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; second, an explicit Lyapunov function approach is proposed to establish finite-time stability of the closed-loop system; and, third, the proposed method is shown to be tunable to exhibit desired transient performance and control energy restriction.
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