Simple homogeneous sliding-mode controller

Shihong Ding, Arie Levant, Shihua Li

Research output: Contribution to journalArticlepeer-review

209 Scopus citations

Abstract

High-order sliding mode (HOSM) control is known to provide for finite-time-exact output regulation of uncertain systems with known relative degrees. Yet the corresponding universal HOSM controllers are typically constructed by special recursive procedures and have complicated form. We propose two new families of homogeneous HOSM controllers of a very simple form. Lyapunov functions are provided for a significant part of the first-family controllers. The second family consists of quasi-continuous controllers, which can be done arbitrarily smooth everywhere outside of the HOSM manifold. A regularization procedure ensures high-accuracy output regulation by means of control with required smoothness level. Output-feedback controllers are constructed. Controllers of the orders 3-5 are demonstrated.

Original languageEnglish
Pages (from-to)22-32
Number of pages11
JournalAutomatica
Volume67
DOIs
StatePublished - 1 May 2016

Funding

FundersFunder number
China Postdoctoral Science Foundation2015M571687
Natural Science Foundation of Jiangsu ProvinceBK2012283, BK20130018
Priority Academic Program Development of Jiangsu Higher Education Institutions
National Natural Science Foundation of China61573170, 61203014, 61473080

    Keywords

    • Finite time stability
    • Higher-order sliding mode control
    • Homogeneity

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