A Novel Sliding Mode Control Method for Uncertain Nonlinear Second-order Systems
- Resource Type
- Conference
- Authors
- Liu, Weiqi; Feng, Zhengping; Bi, Anyuan; Qian, Yuan
- Source
- 2019 Chinese Control And Decision Conference (CCDC) Control And Decision Conference (CCDC), 2019 Chinese. :3162-3167 Jun, 2019
- Subject
- General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Switches
Sliding mode control
Robustness
Simulation
Convergence
Lyapunov methods
Nonsingular terminal sliding mode
Uncertain nonlinear second-order system
Global sliding mode
Finite time
Underwater vehicle
- Language
- ISSN
- 1948-9447
This paper proposes a novel nonsingular terminal sliding mode control combined with global sliding surface for a class of uncertain nonlinear second-order systems. The suggested control approach is developed based on the Lyapunov theory. The sliding mode reaching the sliding surface in finite time can be guaranteed. Furthermore, chattering phenomenon caused by the switching control action can be eliminated theoretically, and desirable control performance is realized. The simulation results for heave control of an unmanned underwater vehicle are presented to verify the effectiveness of the proposed method.