شماره ركورد كنفرانس :
3208
عنوان مقاله :
Free-Chattering Robust Finite Time Tracking for Connected Double Integrator Nonlinear Systems
پديدآورندگان :
Abooee, Ali Advanced Control Systems Lab - Sharif University of Technology , Moravej Khorasani, Masoud Advanced Control Systems Lab - Sharif University of Technology , Haeri, Mohammad Advanced Control Systems Lab - Sharif University of Technology
كليدواژه :
finite time stability , nonsingular fast terminal sliding mode control , finite reaching time , finite settling time , second order nonsingular fast terminal sliding mode control
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In this paper, a new form of generalized
nonsingular fast terminal sliding mode control approach is
proposed to provide the finite time tracking in connected chain of
double integrator nonlinear systems subjected to additive
bounded unknown uncertainties, disturbances, and internal
interactions. The proposed approach presents an adjustable
finite time for achieving the tracking goal which is a summation
of two separate tunable times including finite reaching time and
finite settling time. Tuning of the total finite time is done by
adjusting arbitrary parameters in the control inputs and sliding
surfaces. The high frequency switching of the control method is
removed by applying a second order generalized nonsingular fast
terminal sliding mode control scheme.