TY - GEN

T1 - Quasi-continuous high-order sliding-mode controllers

AU - Levant, Arie

PY - 2003

Y1 - 2003

N2 - A universal finite-time-convergent controller is developed capable to control the output σ of any uncertain SISO system of a known permanent relative degree r. The mode σ ≡ 0 (r-sliding mode) is established by means of a control dependent only on σ, σ,..., σ r-1 and continuous everywhere except the set σ = σ= ... = σr-1 = 0. An output-feedback controller version is also developed. With a being the tracking deviation, the exact finite-time-convergent output tracking is provided in the absence of output noises, otherwise the tracking accuracy is proportional to the magnitude of the noise. In the latter case σ ≡ 0 is not attained producing an unswitched control continuous in time. The resulting performance is significantly improved compared with known r-sliding controllers.

AB - A universal finite-time-convergent controller is developed capable to control the output σ of any uncertain SISO system of a known permanent relative degree r. The mode σ ≡ 0 (r-sliding mode) is established by means of a control dependent only on σ, σ,..., σ r-1 and continuous everywhere except the set σ = σ= ... = σr-1 = 0. An output-feedback controller version is also developed. With a being the tracking deviation, the exact finite-time-convergent output tracking is provided in the absence of output noises, otherwise the tracking accuracy is proportional to the magnitude of the noise. In the latter case σ ≡ 0 is not attained producing an unswitched control continuous in time. The resulting performance is significantly improved compared with known r-sliding controllers.

UR - http://www.scopus.com/inward/record.url?scp=1542320222&partnerID=8YFLogxK

U2 - 10.1109/CDC.2003.1272286

DO - 10.1109/CDC.2003.1272286

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AN - SCOPUS:1542320222

SN - 0780379241

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 4605

EP - 4610

BT - Proceedings of the IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 42nd IEEE Conference on Decision and Control

Y2 - 9 December 2003 through 12 December 2003

ER -