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High‐order sliding mode control design based on adaptive terminal sliding mode
Author(s) -
Tang W.Q.,
Cai Y.L.
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1820
Subject(s) - control theory (sociology) , sliding mode control , terminal sliding mode , robustness (evolution) , bounded function , nonlinear system , lyapunov function , variable structure control , mode (computer interface) , robust control , lyapunov stability , controller (irrigation) , computer science , adaptive control , control engineering , engineering , mathematics , control (management) , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , biology , agronomy , gene , operating system
SUMMARY High‐order sliding mode control techniques are proposed for uncertain nonlinear SISO systems with bounded uncertainties based on two different terminal sliding mode approaches. The tracking error of the output converges to zero in finite time by designing a terminal sliding mode controller. In addition, the adaptive control method is employed to identify bounded uncertainties for eliminating the requirement of boundaries needed in the conventional design. The controllers are derived using Lyapunov theory, so the stability of the closed‐loop system is guaranteed. In the first technique, the developed procedure removes the reaching phase of sliding mode and realizes global robustness. The proposed algorithms ensure establishment of high‐order sliding mode. An illustrative example of a car control demonstrates effectiveness of the presented designs. Copyright © 2011 John Wiley & Sons, Ltd.