Fast self-adapting high-order sliding mode control for a class of uncertain nonlinear systems

• 作者: GUO Fuhui LU Pingli
• 来源期刊: 系统工程与电子技术（英文版）
• 年，卷（期）: 2021,（3）
• 所属期刊栏目: CONTROL THEORY AND APPLICATION
• 页码范围: 690-699
• 页数: 10页
• 语种: 英文
• DOI: 10.23919/JSEE.2021.000059

摘要

A fast self-adapting high-order sliding mode(FSH-OSM)controller is designed for a class of nonlinear systems with unknown uncertainties.As for uncertainty-free nonlinear system,a new switching condition is introduced into the standard geo-metric homogeneity.Different from the existing geometric homo-geneity method,both state variables and their derivatives are considered to bring a reasonable effective switching condition.As a result,a faster convergence rate of state variables is achieved.Furthermore,based on the integral sliding mode(ISM)and above geometric homogeneity,a self-adapting high-order sliding mode(HOSM)control law is proposed for a class of non-linear systems with uncertainties.The resulting controller allows the closed-loop system to conduct with the expected properties of strong robustness and fast convergence.Stable analysis of the nonlinear system is also proved based on the Lyapunov ap-proach.The effectiveness of the resulting controller is verified by several simulation results.