A second-order smooth sliding mode control

Author

Shkolnikov, Ilya A. ; Shtessel, Yuri B. ; Brown, Mark D J

Author_Institution

Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA

Volume

3

fYear

2001

fDate

2001

Firstpage

2803

Abstract

Presented is a method of continuous sliding mode control design to provide for the second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in the absence of unknown disturbances provides for finite-time convergence of the second-order reaching phase dynamics. The application of the second-order disturbance observer in combination with the proposed continuous control law gives the second-order sliding accuracy in the presence of unknown disturbances and a discrete-time control update. The piecewise constant control feedback is "smooth" in the sense that its derivative numerically taken at sampling rate does not contain high frequency components

Keywords

continuous time systems; discrete time systems; nonlinear dynamical systems; observers; piecewise constant techniques; variable structure systems; continuous control law; continuous sliding mode control design; discrete-time control update; finite-time convergence; high frequency components; nonlinear dynamic feedback; piecewise constant control feedback; sampling rate; second-order disturbance observer; second-order reaching phase dynamics; second-order sliding accuracy; second-order sliding mode; second-order smooth sliding mode control; sliding mode observer; unknown disturbances; Control systems; Convergence; Delay estimation; Feedback; Frequency; Missiles; Nonlinear control systems; Robustness; Sampling methods; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980698

Filename

980698