Journal
AUTOMATICA
Volume 80, Issue -, Pages 232-238Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2017.02.039
Keywords
High-Order Sliding-Mode Control; Control Lyapunov Functions; Disturbance rejection; Discontinuous control; Robust control; Global stability; Saturation control
Funding
- CONACyT (Consejo Nacional de Ciencia y Tecnologia) [CVU 267513, 241171]
- PAPIIT-UNAM (Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica) [IN113614, IN113617]
- Fondo de Colaboracion del II-FI UNAM [IISGBAS-100-2015]
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We provide a Lyapunov-based design of High-Order Sliding Mode (HOSM) Control of arbitrary order for a class of Single-Input-Single-Output uncertain nonlinear systems. First we provide a general method to design degree 0 homogeneous controllers based on a homogeneous Control Lyapunov Function (CLF). Then, for a perturbed chain of integrators we construct a smooth and homogeneous CLF and use it to design a family of homogeneous and discontinuous control laws. The controller drives in finite time the trajectories of the system to a sliding surface of arbitrary relative degree, and keeps the trajectories on this manifold despite persistently acting matched perturbations, so that a sliding mode is established. We obtain a large and simply parametrized family of usual discontinuous and quasi-continuous HOSM controllers of nested and polynomial type, that share the robustness and accuracy properties of the existing ones. (C) 2017 Elsevier Ltd. All rights reserved.
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