Continuous higher-order sliding mode control for multi-input multi-output nonlinear uncertain system
LIU Xiang-jie
HAN Yao-zhen
Abstract：This paper proposes a new continuous higher-order sliding mode control scheme for a class of MIMO nonlin-ear uncertain system. After implemented state feedback control, higher-order sliding mode control problem of the original uncertain nonlinear system is equivalently transformed into finite time stability problem of multivariable uncertain integror chains. A finite time continuous control law is firstly employed to guarantee rapid convergence of system states and finite time stabilization of nominal integral chain system, then multivariable non-coupling super-twisting algorithm is designed to overcome system uncertainties and achieve robustness. Finally, the whole control effect is continuous and high frequency chattering phenomenon of sliding mode is greatly weakened. Finite time stability of the closed loop system is proved strict-ly based on quadratic Lyapunov function. Examples concerning finite-time stabilization of a third order uncertain system and the hovercraft circular trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed approach.
Keywords：continuous high-order sliding modemultiple-input multiple-output uncertain systemmultivariable super-twistinghovercraft
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1236-1244 )