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Utilizing the notion of Filippov solution, a sliding mode control law is derived for generic second order nonlinear mechanical system with friction. The control law is designed with some tunable parameters and optional functions. The asymptotically stability of the closed-loop system is proved by the concept of the solution, nonsmooth analysis and nonsmooth Lyapunov stability theory. By some numerical...
A new design method is developed based on the new criteria on approaching phase of sliding mode control. The linear Lipschitz surface can be designed to be switching condition of sliding mode control such that the sliding motion along the surface is not smooth any longer as usual sliding mode controller. Thus, the flexible performance of the sliding motion can be achieved according to the region of...
In this work, a switched control law is proposed to make the desired set point of an underactuated surface vessel finite-time stabilization. The control law is separated into three actions. Each action makes the system have a double integrator subsystem and we use a finite-time controller to achieve a certain objective. In order to overcome the difficulties of measuring the linear and angular velocities...
A new design method of sliding mode control (SMC) is proposed to generalize the conversional procedure which is usually based on Filippov's approaching conditions for only smooth surface. As the fundamental result, the new approaching criteria are developed to show the sufficient conditions on the relation between the trajectories and a nonsmooth surface in state space, if the dynamics of the trajectories...
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