کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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696075 | 890321 | 2014 | 5 صفحه PDF | دانلود رایگان |
In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal sliding-mode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-sliding-mode control scheme. Since the derivatives of terms with fractional powers do not appear in the control law, the control singularities are avoided. A continuous control strategy is developed to achieve the chattering free sliding-mode control. During the ideal sliding-mode motion, the systems behave as a desirable full-order dynamics rather than a desirable reduced-order dynamics. A systematic design method of full-order sliding-mode control for nonlinear systems is presented, which allows both the chattering and singularity problems to be resolved. Simulations validate the proposed chattering free full-order sliding-mode control.
Journal: Automatica - Volume 50, Issue 4, April 2014, Pages 1310–1314