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In order to improve convergence rate while retaining smooth control action soft Variable Structure Control (VSC) can be considered. The classical formulation of soft VSC in continuous time domain assumes smooth switching among an infinite number of controllers. In now commonplace digital implementation changing the control structure is limited to sampling instances, leading to a quasi-soft control...
An arbitrary order differentiator that, in absence of noise, converges to the true derivatives of the signal after a finite time independent of the initial differentiator error is presented. The only assumption on a signal to be differentiated (n − 1)-times is that its n-th derivative is uniformly bounded by a known constant. The new differentiator is obtained by combining the HOSM differentiator...
In this paper, an improved combined switching law is proposed for a class of continuous-time switched linear system with two subsystems. Under this switching law, the Lyapunov-like function is not necessarily to be decreasing in both time-driven and state-driven mechanisms. This remarkably reduces the switching frequency. Under suitable assumptions on the system dynamics, the switched system is exponentially...
For a class of switched discrete-time linear systems, a state dependent switching law with dwell time is designed to make the overall system asymptotically stable. A main feature is that the Lyapunov-like function may not monotonically decreasing in both time-driven and state-driven periods, and this feature allows the proposed stabilizing switching law being of lower switching frequency in contrast...
This paper considers semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms. The objective is to design a non-smooth state feedback law such that the controlled chained form system is both Lyapunov stable and finite-time convergent within any given settling time for any given initial states. We propose a novel switching control strategy with help of...
An adaptive sliding mode speed and position observer for sensorless control of brushless DC motor (BLDCM) is proposed in this paper. According the mathematical model of BLDCM, the sliding surface was defined based on the errors between actual and estimated currents. Equivalent control and model reference adaptive control (MRAC) is used to obtain position and speed signals of the rotor. The Lyapunov...
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