Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4999904 | Automatica | 2017 | 8 Pages |
Abstract
For the double integrator with matched Lipschitz disturbances we propose a continuous homogeneous controller providing finite-time stability of the origin. The disturbance is compensated exactly in finite time using a discontinuous function through an integral action. Since the controller is dynamic, the closed loop is a third order system that achieves a third order sliding mode in the steady state. The stability and robustness properties of the controller are proven using a smooth and homogeneous strict Lyapunov function (LF). In a first stage, the gains of the controller and the LF are designed using a method based on Pólya's Theorem. In a second stage the controller's gains are adjusted through a sum of squares representation of the LF.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
VÃctor Torres-González, Tonametl Sanchez, Leonid M. Fridman, Jaime A. Moreno,