Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems
| Autor: | Yashar Shabbouei Hagh, Reza Mohammadi Asl, Heikki Handroos, Rainer Palm |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
010302 applied physics
Surface (mathematics) Lyapunov stability General Computer Science Computer science General Engineering Stability (learning theory) Robot manipulator Terminal sliding mode robotic manipulator 01 natural sciences Manifold 010305 fluids & plasmas Nonlinear system Integral non-singular terminal sliding mode controller Control theory Control system 0103 physical sciences trajectory tracking General Materials Science lcsh:Electrical engineering. Electronics. Nuclear engineering lcsh:TK1-9971 servo-hydraulic system |
| Zdroj: | IEEE Access, Vol 7, Pp 102792-102802 (2019) |
| ISSN: | 2169-3536 |
| Popis: | In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the control system is demonstrated for both second-order and nth-order systems by using the Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed. |
| Databáze: | OpenAIRE |
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