Journal
AUTOMATICA
Volume 50, Issue 4, Pages 1310-1314Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2014.01.004
Keywords
Sliding-mode control; Terminal sliding-mode; Finite-time stability; Lyapunov stability; Singularity
Funding
- National Natural Science Foundation of China [61074015]
- Visiting Scholar Foundation of the State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University, China
- Linkage Project of the Australian Research Council [LP100200538]
- Australian Research Council [LP100200538] Funding Source: Australian Research Council
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In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal sliding-mode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-sliding-mode control scheme. Since the derivatives of terms with fractional powers do not appear in the control law, the control singularities are avoided. A continuous control strategy is developed to achieve the chattering free sliding-mode control. During the ideal sliding-mode motion, the systems behave as a desirable full-order dynamics rather than a desirable reduced-order dynamics. A systematic design method of full-order sliding-mode control for nonlinear systems is presented, which allows both the chattering and singularity problems to be resolved. Simulations validate the proposed chattering free full-order sliding-mode control. (C) 2014 Elsevier Ltd. All rights reserved.
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