Weighted homogeneity and robustness of sliding mode control

Arie Levant, Miki Livne

Research output: Contribution to journalArticlepeer-review

Abstract

General features of finite-time-stable (FTS) homogeneous differential inclusions (DIs) are investigated in the context of sliding-mode control (SMC). The continuity features of the settling-time functions of FTS homogeneous DIs are considered, and the system asymptotic accuracy is calculated in the presence of disturbances, noises and delays. Performance of output-feedback multi-input multi-output homogeneous SMC systems is studied in the presence of relative degree fluctuations. The bifurcation of the kinematic-car-model relative degree is analyzed as an example.

Original languageEnglish
Pages (from-to)186-193
Number of pages8
JournalAutomatica
Volume72
DOIs
StatePublished - 1 Oct 2016

Keywords

  • Finite-time stability
  • Homogeneity
  • Output-feedback
  • Sliding mode control

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