Adjustment of high-order sliding-mode controllers

Arie Levant; Alon Michael

doi:10.1002/rnc.1397

Adjustment of high-order sliding-mode controllers

Arie Levant^*, Alon Michael

^*Corresponding author for this work

School of Mathematical Sciences

Tel Aviv University

Research output: Contribution to journal › Article › peer-review

87 Scopus citations

Abstract

Long-lasting problems of high-order sliding-mode (HOSM) design are solved. Only local uncertainty suppression was previously obtained in the case when the dynamic system uncertainties are unbounded. This restriction is removed in this paper. A universal method is proposed for the proper controller parameter adjustment based on the homogeneity approach. The method allows making the finite-time convergence arbitrarily fast or slow. In addition, a HOSM regularization procedure is proposed diminishing chattering. Computer simulation confirms the theoretical results. Copyright.

Original language	English
Pages (from-to)	1657-1672
Number of pages	16
Journal	International Journal of Robust and Nonlinear Control
Volume	19
Issue number	15
DOIs	https://doi.org/10.1002/rnc.1397
State	Published - Oct 2009

Keywords

Robustness
Sliding mode
Sliding order
Tracking systems
Uncertainty

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10.1002/rnc.1397

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KW - Tracking systems

KW - Uncertainty

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Adjustment of high-order sliding-mode controllers

Abstract

Keywords

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