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

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

研究成果: 雜誌貢獻文章

18 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
頁(從 - 到)257-268
頁數12
期刊Electrical Engineering
92
發行號7-8
DOIs
出版狀態已發佈 - 2010 十二月 1

    指紋

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Applied Mathematics

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