期刊
AUTOMATICA
卷 41, 期 5, 页码 823-830出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2004.11.029
关键词
discontinuous control; finite-time stability; high-order sliding mode; robustness; output feedback
It is shown that a general uncertain single-input-single-output regulation problem is solvable only by means of discontinuous control laws, giving rise to the so-called high-order sliding modes. The homogeneity properties of the corresponding controllers yield a number of practically important features. In particular, finite-time convergence is proved, and asymptotic accuracy is calculated in a very general way in the presence of input noises, discrete measurements and switching delays. A robust homogeneous differentiator is included in the control structure thus yielding robust output-feedback controllers with finite-time convergence. It is demonstrated that homogeneity features significantly simplify the design and investigation of a new family of high-order sliding-mode controllers. Finally, simulation results are presented. (c) 2005 Elsevier Ltd. All rights reserved.
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