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On 2 types of robust reaching laws
Author(s) -
Chen Yuquan,
Wei Yiheng,
Wang Yong
Publication year - 2018
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.4042
Subject(s) - control theory (sociology) , convergence (economics) , manifold (fluid mechanics) , computer science , phenomenon , controller (irrigation) , motion (physics) , robust control , law , sliding mode control , control (management) , engineering , nonlinear system , control system , artificial intelligence , political science , physics , economics , mechanical engineering , agronomy , electrical engineering , quantum mechanics , biology , economic growth
Summary The reaching law is an important part of a sliding‐mode controller, which guarantees the existence of sliding motion in finite time. Fast access to sliding motion with a weak chattering phenomenon in control input is always desired. In this paper, 2 different types of reaching laws are proposed, which guarantee finite‐time convergence to the sliding manifold. Moreover, the reaching time is robust to initial conditions and can be designed by the user. Some useful discussions on the design of parameters are also presented to weaken the chattering phenomenon. A careful simulation study is finally provided to verify the effectiveness and efficiency of the proposed methods.