A novel dynamic terminal sliding mode control of uncertain nonlinear systems

被引：68
|
作者：
Liu J. [1 ]
Sun F. [2 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics
[2] State Key Laboratory of Intelligent Technology and Systems, Tsinghua University
来源：
Journal of Control Theory and Applications | 2007年 / 5卷 / 2期
基金：
中国国家自然科学基金;
关键词：
Dynamic sliding mode; Inverted pendulum; Robust control; Terminal sliding mode control;
D O I：
10.1007/s11768-005-5275-5
中图分类号：
学科分类号：
摘要：
A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method. © 2007 Editorial Board of Control Theory & Applications.
引用
收藏
页码：189 / 193
页数：4
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