A fast terminal sliding mode control scheme with time-varying sliding mode surfaces |
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| Authors: | Meibao Yao Xueming Xiao Yang Tian Hutao Cui |
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| Institution: | 1. School of Artificial Intelligence, Jilin University, Changchun, PR China;2. Changchun University of Science and Technology, Changchun, PR China;3. Harbin Institute of Technology, Harbin, PR China;1. School of Control and Computer Engineering, North China Electric Power University, 102206 Beijing, China;2. School of Transportation Science and Engineering, Beihang University, 100091 Beijing, China;1. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, Shandong Province, 266590, China;2. School of Mathematical College, Chongqing Normal University, Chongqing 401331 China;3. Department of Electrical Engineering, Yeungnam University, 280 Daehak-Ro, Kyongsan 38541, Republic of Korea;1. Science and Technology on Aerospace Flight Dynamics Laboratory, School of Astronautics, Northwestern Polytechnical University, Xi’an, 710072, China;2. Research and Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen, 518057, China |
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| Abstract: | This paper proposes a novel fast terminal sliding mode (FTSM) control scheme, which accelerates convergence of the controlled system both in its approaching and after reaching the sliding manifold. The novelty lies in the design of time-varying sliding surface without a priori knowledge of the initial system states, so achieving insensitivity to the uncertainty of the initial states. Based on this, we design a corresponding FTSM control strategy, where the singularity problem of conventional terminal sliding mode (TSM) control systems is overcome by restricting the TSM surfaces to non-singular areas. We prove stability and finite-time convergence of the system with the proposed controller. Furthermore, we extend the proposed FTSM control scheme to high-order systems and discuss its application in practical systems. Preliminary simulation results and comparative studies demonstrate the validity of the proposed FTSM control scheme with the designed sliding surface. |
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