A new terminal sliding mode tracking control for a class of nonminimum phase systems with uncertain dynamics

Man, Z, Shen, W and Yu, X 2008, 'A new terminal sliding mode tracking control for a class of nonminimum phase systems with uncertain dynamics', in IEEE (ed.) 10th International Workshop on Variable Structure Systems (VSS '08), Antalya, Turkey, 8-10 June, 2008.


Document type: Conference Paper
Collection: Conference Papers

Title A new terminal sliding mode tracking control for a class of nonminimum phase systems with uncertain dynamics
Author(s) Man, Z
Shen, W
Yu, X
Year 2008
Conference name 10th International Workshop on Variable Structure Systems (VSS '08)
Conference location Antalya, Turkey
Conference dates 8-10 June, 2008
Proceedings title 10th International Workshop on Variable Structure Systems (VSS '08)
Editor(s) IEEE
Publisher IEEE
Place of publication United States
Abstract In this paper, a new terminal sliding mode tracking control scheme is developed for a class of nonminimum phase systems with uncertainties. It is shown that, unlike conventional linear or terminal sliding mode controls, the Lyapunov stability theory in this paper is used to determine the upper and the lower bounds of the control signal and its derivative. A dynamic control signal can then be designed, subject to the bounded conditions, to drive the terminal sliding variable to converge to zero, and, on the terminal sliding mode surface, the tracking error is guaranteed to converge to zero in a finite time. A simulation example is presented in support of the proposed robust tracking control scheme.
Subjects Calculus of Variations, Systems Theory and Control Theory
Control Systems, Robotics and Automation
Keyword(s) Lyapunov stability
Nonminimum phase
System uncertainties
Terminal sliding mode control
DOI - identifier 10.1109/VSS.2008.4570698
Copyright notice ©2008 IEEE
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