Lyapunov-based design for a class of variable-gain 2nd-sliding controllers with the desired convergence rate

Cruz-Zavala Emmanuel; Moreno Jaime A.; Fridman Leonid

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Lyapunov-based design for a class of variable-gain 2nd-sliding controllers with the desired convergence rate

机译：基于Lyapunov的设计为一类可变增益的第二滑动控制器，具有所需的收敛速度

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摘要

The aim of this paper is to propose a novel family of variable-gain second-order sliding mode controllers capable of dealing with uncertainties and disturbances that grow with the state. The proposed family provides exact compensation of perturbations having a known upper bound and generalizes some sliding controllers reported in the literature. A novelty of this work is that the designer is able to choose the desired convergence rate: semiglobal/global finite-time or fixed-time. The analysis and control design is completely based on a strict Lyapunov function, leading to an effective procedure to tune the gains.

机译：本文的目的是提出一种新型可变增益二阶滑动模式控制器，能够处理与状态增长的不确定性和扰动。该拟议的家庭提供了具有已知的上限的扰动的精确补偿，并概括了文献中报告的一些滑动控制器。这项工作的新颖之处在于设计人员能够选择所需的收敛速度：半球形/全局有限时间或固定时间。分析和控制设计完全基于严格的Lyapunov函数，导致有效的过程调整收益。

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来源
《International Journal of Robust and Nonlinear Control》 |2018年第17期|共18页
作者
Cruz-Zavala Emmanuel; Moreno Jaime A.; Fridman Leonid;
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作者单位

Univ Guadalajara Ctr Univ Ciencias Exactas &

Ingn Guadalajara 44430 Jalisco Mexico;

Univ Nacl Autonoma Mexico Inst Ingn Mexico City DF Mexico;

Univ Nacl Autonoma Mexico Fac Ingn Mexico City DF Mexico;

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原文格式 PDF
正文语种 eng
中图分类自动化系统;
关键词
finite-time stability; fixed-time stability; Lyapunov-based methods; second-order sliding mode control; variable-gain controllers;

机译：有限时间稳定性;固定时间稳定性;基于Lyapunov的方法;二阶滑动模式控制;可变增益控制器;

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1. Lyapunov-based design for a class of variable-gain 2nd-sliding controllers with the desired convergence rate [J] . Cruz-Zavala Emmanuel, Moreno Jaime A., Fridman Leonid International Journal of Robust and Nonlinear Control . 2018,第17期

机译：基于Lyapunov的设计为一类可变增益的第二滑动控制器，具有所需的收敛速度
2. A modification design of a class of Lyapunov-based robust controllers subject to input constraint [J] . Shou-Tao Peng, Yih-Ran Sheu Journal of the Chinese Society of Mechanical Engineers, Series C: Transactions of the Chinese Society of Mechanical Engineers . 2002,第6期

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3. Lyapunov-based fractional-order controller design to synchronize a class of fractional-order chaotic systems [J] . Ruihong Li, Weisheng Chen Nonlinear dynamics . 2014,第1期

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Lyapunov-based design for a class of variable-gain 2nd-sliding controllers with the desired convergence rate

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