Conference Paper

Nonsingular Terminal Sliding Mode Control for a Class of Time Delay Systems

Dept. of Electr. Eng., Southwest Jiaotong Univ., Chengdu
DOI: 10.1109/ICARCV.2006.345448 Conference: Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Source: IEEE Xplore

ABSTRACT A global nonsingular terminal sliding mode controller is proposed for a class of second order time delay systems with distributed in state and control variables. By properly designing a state transformation and a predictor, the given system can be transformed into a time delay free one, based on which we construct a new terminal sliding mode surface. Under the proposed terminal sliding mode controller, the system states can be driven to reach the new terminal sliding mode manifold and stay on it forever, resulting in the convergence to equilibrium in a finite time. The global stability of the closed loop system is guaranteed and the singularity problem associated with conventional terminal sliding mode is avoided

  • [Show abstract] [Hide abstract]
    ABSTRACT: An improved design method of nonsingular terminal sliding mode control is proposed in this paper. It is shown that, by selecting a novel nonlinear sliding surface, the controller is obtained which drives the states of high-order systems to reach the equilibrium from any initial states in finite time. Finally, an improved nonsingular terminal sliding mode controller is designed which effectively solves the singularity problem and reduces the chatting. Simulation results show the validity of the new method.
    Control and Decision Conference, 2009. CCDC '09. Chinese; 07/2009