Finite‐Time Sliding Mode Trajectory Tracking Control of Uncertain Mechanical Systems |
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Authors: | Liang Sun Zewei Zheng |
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Affiliation: | Seventh Research Division, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing, China |
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Abstract: | The problem of finite‐time tracking control is studied for uncertain nonlinear mechanical systems. To achieve finite‐time convergence of tracking errors, a simple linear sliding surface based on polynomial reference trajectory is proposed to enable the trajectory tracking errors to converge to zero in a finite time, which is assigned arbitrarily in advance. The sliding mode control technique is employed in the development of the finite‐time controller to guarantee the excellent robustness of the closed‐loop system. The proposed sliding mode scheme eliminates the reaching phase problem, so that the closed‐loop system always holds the invariance property to parametric uncertainties and external disturbances. Lyapunov stability analysis is performed to show the global finite‐time convergence of the tracking errors. A numerical example of a rigid spacecraft attitude tracking problem demonstrates the effectiveness of the proposed controller. |
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Keywords: | Finite‐time control sliding mode control trajectory tracking uncertain mechanical systems |
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