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 |
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Pages (from-to) | 1657-1672 |
Number of pages | 16 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 19 |
Issue number | 15 |
DOIs | |
State | Published - Oct 2009 |
Keywords
- Robustness
- Sliding mode
- Sliding order
- Tracking systems
- Uncertainty