Saturated Lipschitz Continuous Sliding Mode Controller for Perturbed Systems With Uncertain Control Coefficient
C. Arturo Martínez-Fuentes, Richard Seeber, Leonid Fridman, Jaime A. Moreno
Abstract
In this article, a Lipschitz continuous sliding mode controller (LCSMC) is proposed to stabilize an integrator chain with a saturated control input, Lipschitz continuous perturbations, and an unknown control coefficient. The proposed controller ensures global finite-time convergence to the sliding surface by means of a control signal that is Lipschitz continuous (i.e., has finite gain) and is bounded by a given actuator limit. Stability conditions for the controller's tuning parameters are derived and the effectiveness of the approach is demonstrated in the course of a numerical simulation.
Topics & Concepts
Control theory (sociology)Lipschitz continuityController (irrigation)Sliding mode controlMathematicsConvergence (economics)IntegratorBounded functionActuatorLimit (mathematics)Stability (learning theory)Computer scienceControl (management)Mathematical analysisNonlinear systemPhysicsComputer networkEconomic growthQuantum mechanicsBandwidth (computing)EconomicsMachine learningBiologyAgronomyArtificial intelligenceAdaptive Control of Nonlinear SystemsDynamics and Control of Mechanical SystemsStability and Controllability of Differential Equations