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This paper proposes an effective method to balance the confliction between higher steady-state precision and stronger robustness in sliding-mode control systems. Different from the conventional two-phase-based sliding-mode control, the proposed sliding-mode control (SMC) is divided into a three-phase-based control, which include the first reaching phase, the second sliding-mode moving phase and the...
For the tracking control of a class of uncertain second order nonlinear systems, this paper proposes a robust global finite time control strategy. This control strategy consists of two parts: firstly, a time-varying sliding mode controller is designed to make the tracking errors to zero at a desired finite time tr; then, in the succeeding time t > tr, another nonsingular terminal sliding mode controller...
A novel second-order time-varying sliding mode control(SOTVSMC) law is proposed for the robust tracking control problem of nonlinear smooth single-input single-output(SISO) system with disturbance. The advantages of the proposed SOTVSMC are twofold. The global second order sliding mode is established, which implies that the closed-loop system is global robust against matched parameter uncertainties...
This paper is to propose a new design of Iterative learning Control (ILC) for the purpose of output tracking. The novelty lies in the synthesis of ILC with sliding-mode control such that the tracking performance and accuracy can be improved. The considered system is first transformed into two subsystems such that the new design can be applied to broad systems. Based on the transformed systems, an...
This paper is a first attempt for a new second order sliding mode output feedback controller. This last one is developed in the case of finite sampling frequency and is using only output information in order to ensure desired trajectory tracking with high accuracy in a finite time in spite of uncertainties and perturbations. This controller ensures the establishment of a ??real?? second order sliding...
The paper studies the robust control of non-minimum phase nonlinear system based on the differential geometry theory. The nonlinear system could be expressed as input-output dynamics with the unstable internal modes, through nonlinear coordinate transformation. Virtual controller is introduced to stabilize zero dynamic, and the sliding mode controller, which is robust to the parameter perturbations...
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