Backstepping-Induced Terminal Sliding Mode Control with Strict Lyapunov Function

被引：0
|
作者：
Watermann, Lars [1 ]
Reger, Johann [1 ]
Bandyopadhyay, Bijnan [2 ]
机构：
[1] Tech Univ Ilmenau, Control Engn Grp, POB 100565, D-98684 Ilmenau, Germany
[2] Indian Inst Technol, Interdisciplinary Program Syst & Control Engn, Mumbai 400076, Maharashtra, India
来源：
2020 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA) | 2020年
基金：
欧盟地平线“2020”;
关键词：
SYSTEMS; DESIGN;
D O I：
10.1109/ccta41146.2020.9206398
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a different view on the classical Terminal Sliding Mode (TSM) control is presented. The back-stepping procedure is used to synthesize a new TSM-like control law for the second and third order integrator chain. A strict Lyapunov function (LF) for the entire closed loop dynamics is given naturally by design. Further, it is shown, under a certain choice of parameters, that the LF is valid for the classical TSM control law, as well. Finite-time convergence of all states to the origin is proven for both control algorithms using this LF. Finally, the new TSM-like control law is validated in simulations for the third order case.
引用
收藏
页码：851 / 856
页数：6
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