Control Via Finite-Time Terminal Sliding Mode

Resumen: In this work, a trajectory tracking controller based on Slide-Mode Control (SMC), Terminal Sliding-Mode (TSM) and derived from finite time stability theory is presented. The main contributions from this algorithm are finite-time convergence of the states to zero and robustness against external perturbations and parametric uncertainties using only one tunable gain. Stability test are made to demonstrate the finite-time stability in closed loop and calculation of the system trajectories reaching time to the sliding surface.

¿Cómo citar?

Misael Medina Barrera, Raúl Rascón Carmona, Sergio Gomez Silva & Andrés Calvillo Téllez. Control via Finite-Time Terminal Sliding Mode. Memorias del Congreso Nacional de Control Automático, pp. 119-123, 2018.

Palabras clave

sliding mode, control, nite-time, trajectory, variable structure

• Edwards, C. and Spurgeon, S. (1998). Sliding mode control: theory and applications. Crc Press.
• Filippov, A. (1988). Differential equations with discontinuous right-hand sides. Kluwer Academic Publisher, Dordrecht.
• Rascón, R., Peñaloza -Mejía, O., and Castro, J.G. (2016). Improving first order sliding mode control on second order mechanical systems. European Journal of Control, 29, 74–80.
• Sanyal, A.K. and Bohn, J. (2015). Finite-time stabilization of simple mechanical systems using continuous feedback. International Journal of Control, 88(4), 783– 791. doi:10.1080/00207179.2014.974675.
• Shtessel, Y., Edwards, C., Fridman, L., and Levant, A. (2014). Sliding mode control and observation. Springer.
•  Slotine, J.J. and Sastry, S.S. (1983). Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators. International Journal of Control, 38(2), 465–492. doi: 10.1080/00207178308933088.
• Utkin, V. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212–222. doi:10.1109/TAC.1977.1101446.
• Venkataraman, S. and Gulati, S. (1993). Control of nonlinear systems using terminal sliding modes. Journal of dynamic systems, measurement, and control, 115(3), 554–560.
• Young, K., Utkin, V., and Ozguner, U. (1999). A control engineer’s guide to sliding mode control. IEEE Transactions on Control Systems Technology, 7(3), 328–342. doi:10.1109/87.761053.
• Yu, S., Yu, X., Shirinzadeh, B., and Man, Z. (2005). Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica, 41(11), 1957– 1964.
• Yu, X., Zhihong, M., Feng, Y., and Guan, Z. (2002). Nonsingular terminal sliding mode control of a class of nonlinear dynamical systems. IFAC Proceedings Volumes, 35(1), 161–165.
• Zhu, Z., Xia, Y., and Fu, M. (2011). Attitude stabilization of rigid spacecraft with finite-time convergence. International Journal of Robust and Nonlinear Control, 21, 686 – 702.