A New Second-Order Sliding Mode and Its Application to Nonlinear Constrained Systems

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.