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Finite Time Stabilization of An Uncertain Chain of Integrators by Integral Sliding Mode Approach

Chalanga, A; Plestan, F; (2017) Finite Time Stabilization of An Uncertain Chain of Integrators by Integral Sliding Mode Approach. IFAC-PapersOnLine , 50 (1) pp. 9613-9618. 10.1016/j.ifacol.2017.08.1700. Green open access

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Abstract

In this paper, finite time stabilization of an uncertain chain of integrators is studied. The controller proposed in the paper, under some conditions guarantees the convergence of all the states at time exactly tFand that chosen in advance. The controller is designed based on the integral sliding mode approach, which is the combination of two controls: a nominal control which is designed to obtain desired performances for the disturbance free system and a super-twisting control is designed for the disturbance compensation. The proposed controller also adjusts the chattering because of continuous control. Finally this paper presents the finite time stability proof of super-twisting algorithm by using continuously differentiable Lyapunov function. Thanks to academic example, effectiveness by the proposed method is presented with simulation results. Through the simulations performance of the proposed method is compare with an existing method.

Type: Article
Title: Finite Time Stabilization of An Uncertain Chain of Integrators by Integral Sliding Mode Approach
Event: 20th World Congress of the International Federation of Automatic Control (IFAC), 9-14 July 2017, Toulouse, France
Open access status: An open access version is available from UCL Discovery
DOI: 10.1016/j.ifacol.2017.08.1700
Publisher version: https://doi.org/10.1016/j.ifacol.2017.08.1700
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Integral sliding mode control, optimal control, finite time convergence, higher order sliding mode control
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/10055361
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