Adaptive uniform finite-/fixed-time convergent second-order sliding-mode control |
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Authors: | Michael Basin Chandrasekhara Bharath Panathula Yuri Shtessel |
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Affiliation: | 1. Department of Physical and Mathematical Sciences, Autonomous University of Nuevo Leon, San Nicolas de los Garza, Mexico;2. ITMO University, Saint-Petersburg, Russiambasin@fcfm.uanl.mx;4. Department of Electrical and Computer Engineering, University of Alabama in Huntsville, Huntsville, AL, United States |
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Abstract: | ABSTRACTThis paper presents an adaptive gain algorithm for second-order sliding-mode control (2-SMC), specifically a super-twisting (STW)-like controller, with uniform finite/fixed convergence time, that is robust to perturbations with unknown bounds. It is shown that a second-order sliding mode is established as exact finite-time convergence to the origin if the adaptive gain does not have the ability to get reduced and converge to a small vicinity of the origin if the adaptation algorithm does not overestimate the control gain. The estimate of fixed convergence time of the studied adaptive STW-like controller is derived based on the Lyapunov analysis. The efficacy of the proposed adaptive algorithm is illustrated in a tutorial example, where the adaptive STW-like controller with uniform finite/fixed convergence time is compared to the adaptive STW controller with non-uniform finite convergence time. |
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Keywords: | Adaptive control sliding-mode control fixed-time convergence |
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