Title :
Analysis on transient time of nonsingular terminal sliding mode control
Author :
Chaoxu Mu ; Xinghuo Yu ; Changyin Sun
Author_Institution :
Dept. of Electr. Eng. & Autom., Tianjin Univ., Tianjin, China
Abstract :
Nonsingular terminal sliding mode control is widely accepted due to the properties of robust and finite time convergence. In this paper, the transient time of nonsingular terminal sliding mode is focused and deeply explored, where the transient time is exactly described by mathematic expressions. Simulation is executed on rigid manipulators to give the exact transient time when the system states converge to zero.
Keywords :
control system analysis; convergence; manipulators; mathematical analysis; transient analysis; variable structure systems; finite time convergence; mathematic expressions; nonsingular terminal sliding mode control; rigid manipulators; robust time convergence; transient time analysis; Convergence; Manifolds; Manipulators; Mathematical model; Sliding mode control; Switches; Transient analysis; Terminal sliding mode; nonsingularity; transient time;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
