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A Lyapunov-Based Approach for Recursive Continuous Higher Order Nonsingular Terminal Sliding-Mode Control.
- Source :
-
IEEE Transactions on Automatic Control . Sep2021, Vol. 66 Issue 9, p4424-4431. 8p. - Publication Year :
- 2021
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 66
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 153245172
- Full Text :
- https://doi.org/10.1109/TAC.2020.3047145