| A novel dynamic terminal sliding mode control of uncertain nonlinear systems |
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| 作者姓名： | Jinkun LIU Fuchun SUN |
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| 作者单位： | [1]School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China [2]State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China |
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| 基金项目： | This work was supported by the National Natural Science Foundation of China （No.60474025, 90405017）. |
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| 摘 要： | A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.
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| 关 键 词： | 不确定非线性系统 终端滑模控制 动态滑模 鲁棒控制 |
| 收稿时间： | 2005-09-30 |
| 修稿时间： | 2006-11-23 |
A novel dynamic terminal sliding mode control of uncertain nonlinear systems |
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| Jinkun LIU,Fuchun SUN.A novel dynamic terminal sliding mode control of uncertain nonlinear systems[J].Journal of Control Theory and Applications,2007,5(2):189-193. |
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| Authors: | Jinkun LIU;Fuchun SUN |
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| Affiliation: | 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China |
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| Abstract: | A new dynamic terminal sliding mode control (DTSMC) technique is
proposed for a class of single-input and single-output (SISO)
uncertain nonlinear systems. The dynamic terminal sliding mode
controller is formulated based on Lyapunov theory such that the
existence of the sliding phase of the closed-loop control system can
be guaranteed, chattering phenomenon caused by the switching control
action can be eliminated, and high precision performance is
realized. Moreover, by designing terminal equation, the output
tracking error converges to zero in finite time, the reaching phase
of DSMC is eliminated and global robustness is obtained. The
simulation results for an inverted pendulum are given to demonstrate
the properties of the proposed method. |
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| Keywords: | Terminal sliding mode control Dynamic sliding mode Robust control Inverted pendulum |
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