Open AccessFixed‐time non‐singular terminal sliding mode control with globally fast convergence
Author(s) -
Li Huijie,
Cai Yuanli
Publication year - 2022
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12299
Subject(s) - control theory (sociology) , settling time , lyapunov function , terminal sliding mode , inverted pendulum , sliding mode control , mathematics , convergence (economics) , upper and lower bounds , computer science , nonlinear system , control (management) , engineering , control engineering , step response , mathematical analysis , physics , artificial intelligence , quantum mechanics , economics , economic growth
Abstract This paper investigates a fixed‐time terminal sliding mode (TSM) control scheme of second‐order non‐linear uncertain systems. A globally fast fixed‐time stable system is proposed, and the convergence time is established with the Lyapunov method. Then, a novel non‐singular TSM utilising the proposed fixed‐time stable system and an auxiliary polynomial function is constructed. Meanwhile, a fixed‐time disturbance observer technique is employed to estimate the matched lumped perturbation. Globally fast fixed‐time convergence of the closed‐loop system is guaranteed with the phase plane analysis and Lyapunov tools, and the upper bound of the settling time independent of the initial conditions can be predefined by the controller parameters. Finally, the simulation results of a single inverted pendulum system are included to confirm the validity of the proposed methodology while comparing with some popular TSM control strategies.