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In this paper, a framework of convex optimization algorithm with a fixed time convergence rate is investigated. Given a strongly convex optimization problem, two control algorithms are developed to solve the problem within a fixed time of which the upper bound is theoretically obtained. Moreover, the fixed time convergence rate based algorithms are extended into the distributed manner which is applied...
In this paper, chattering in a time-delayed second order sliding mode control (2-SMC) system is analyzed using the Poincaré map method. Convergence of the system under arbitrary time-delay is proved. The switching patterns are explored. The existence and uniqueness of the periodic orbit are shown. Simulations are done to support the theoretical results.
In this paper, time-delay effect on continuous approximation of sliding mode control (SMC) systems is studied in depth. The switching band that bound the zigzagging behaviors due to control switching around the switching manifold is constructed. Robust control theory is employed to develop a sufficient condition for the asymptotical stability of the system. Simulation is conducted to verify the theoretical...
This paper proposes a nonsingular terminal sliding mode control for a two-link flexible manipulator. The flexible robotic system is decomposed into an input-output subsystem and an internal subsystem. A novel inverse dynamics nonsingular terminal sliding mode controller is designed to make the input-output subsystem converge to its equilibrium point in finite time. In order to achieve good performance...
This paper proposes a networked sliding mode controller for servomechanical systems. Asymptotic stability is analyzed. Saturation function is used to eliminate chattering. Sensitivity of the zero eigenvalue with respect to the gain of the saturation function in linear interval is analyzed. Conditions for the choice of the gain and time delay are proposed. Simulations are conducted to verify the theoretical...
This paper presents stability analysis of the time-delayed equivalent control based single input sliding mode control systems using an LMI approach. Conditions to guarantee the boundedness of the control system trajectories under the time-delayed equivalent control based sliding mode control are obtained. Maximum upper bound of the delay time to guarantee stability is estimated. Digital simulations...
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