Continuous finite-time terminal sliding mode to solve the tracking problem in a class of mechanical systems

Author:

Rascón Raúl1ORCID,Moreno-Ahedo Luis1,Calvillo-Téllez Andrés2

Affiliation:

1. Universidad Autónoma de Baja California, Mexicali, Baja California, México

2. Instituto Politécnico Nacional CITEDI, Tijuana, México

Abstract

The major contribution of this study is the feedback design of a finite-time convergence sliding mode control to solve the trajectory-tracking problem in a class of mechanical systems. Some advantages are that the controller presents a continuous signal by integration of the high-frequency switching term. Another benefit is the design and implementation of an uncertainty and disturbance estimator (UDE) to robustify the closed-loop system. We use Lyapunov tools to develop the closed-loop stability analysis and to give an expression of the convergence time [Formula: see text] t through this, we can reduce the convergence time by tuning the gains of the controller. We illustrate the performance of the proposed control structure via numerical simulations conducted for a mass-spring-damper system and experiments developed in a pendular system.

Publisher

SAGE Publications

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