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

Yu Sheng Lu*, Chien Wei Chiu, Jian Shiang Chen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


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
Issue number7-8
Publication statusPublished - 2010 Dec
Externally publishedYes


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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Applied Mathematics


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