Time-varying sliding-mode control for finite-time convergence

Yu-Shen Lu, Chien Wei Chiu, Jian Shiang Chen

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

This paper proposes a time-varying sliding-mode control scheme, in which a piecewise defined function of time that contains trigonometric functions is incorporated into the switching function not only to eliminate the reaching phase, but also to guarantee finite-time convergence of the tracking error. Without using fractional-power functions of certain state variable, the proposed control is both free from singularity around the equilibrium and also convenient for practical implementation. Moreover, the proposed scheme has the terminal time as an explicit parameter, which makes the controller design simple to meet the terminal-time requirement. Experiments were conducted on a two-link direct-drive manipulator to demonstrate the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)257-268
Number of pages12
JournalElectrical Engineering
Volume92
Issue number7-8
DOIs
Publication statusPublished - 2010 Dec 1

Fingerprint

Convergence Time
Sliding mode control
Sliding Mode Control
Time-varying
Switching functions
Fractional Powers
Circular function
Power Function
Manipulator
Controller Design
Manipulators
Eliminate
Singularity
Controllers
Requirements
Demonstrate
Experiment
Experiments

Keywords

  • Continuous equivalent control
  • Control systems
  • Finite-time convergence
  • Sliding-mode control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

Time-varying sliding-mode control for finite-time convergence. / Lu, Yu-Shen; Chiu, Chien Wei; Chen, Jian Shiang.

In: Electrical Engineering, Vol. 92, No. 7-8, 01.12.2010, p. 257-268.

Research output: Contribution to journalArticle

Lu, Yu-Shen ; Chiu, Chien Wei ; Chen, Jian Shiang. / Time-varying sliding-mode control for finite-time convergence. In: Electrical Engineering. 2010 ; Vol. 92, No. 7-8. pp. 257-268.
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