Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 6, Pages 2545-2552Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2867163
Keywords
Finite-time stability; Lyapunov analysis; second-order sliding mode (SOSM); state constraints
Funding
- National Natural Science Foundation of China [61573170, 61473080, 31571571]
- Jiangsu Natural Science Foundation for Distinguished Young Scholars [SBK2018010063]
- Priority Academic Program Development of Jiangsu Higher Education Institutions
- Six Talent Peaks Project in Jiangsu Province [XNYQC-006]
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This note considers the second-order sliding-mode (SOSM) control of nonlinear constrained systems. A new state-saturated-like SOSM algorithm has been constructed by using the saturation technique and the back stepping-like method. The finite-time stability of the closed-loop SOSM dynamics has been verified by Lyapunov analysis. The advantage of the proposed SOSM algorithm lies in that it will provide the maximum domain of attraction under the preset state constraints. An example of a pendulum control system has been given to verify the effectiveness of the proposed method.
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