Adjustment of high-order sliding-mode controllers

Arie Levant, Alon Michael

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Pages (from-to)1657-1672
Number of pages16
JournalInternational Journal of Robust and Nonlinear Control
Volume19
Issue number15
DOIs
StatePublished - Oct 2009

Keywords

  • Robustness
  • Sliding mode
  • Sliding order
  • Tracking systems
  • Uncertainty

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