Second-order sliding mode control design subject to sliding variable constraints
MEI Ke-qi
MA Li
DING Shi-hong
LIU Lu
Abstract：In real system,the state constraints are ubiquitous.Thus it is of great theoretical and engineering significance to consider the control design problem under state constraints.In this paper,the problem of second-order sliding mode (SOSM)controller design under sliding variable constraints is considered.Firstly,by using the Lyapunov method,a kind of new SOSM controller is presented without considering the sliding variable constraints.It is proved that the sliding variable will be stabilized to the equilibrium point in a finite time under the designed SOSM controller.Secondly,considering the case that the sliding variable is restricted to be in a preset region,it is also proved that there is a domain of attraction associated with the control parameters in the restricted region so that its phase trajectory will not escape from the attractive domain when the initial states are within it.Finally,the control of the inverted pendulum under state constraints is given to demonstrate the effectiveness of the proposed algorithm.
Keywords：second-order sliding modefinite-time stabilityadding a power integratorstate constraints
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 414-420 )