Neural sliding mode control with finite time convergence

2009 ◽  
Author(s):  
Wen Yu ◽  
Xiaoou Li
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Finite Time Convergence ◽  
Mode Control

scholarly journals A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Dan-xu Zhang ◽  
Yang-wang Fang ◽  
Peng-fei Yang ◽  
You-li Wu ◽  
Tong-xin Liu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Multiple Models ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Control Scheme

This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example shows that the proposed control scheme is more effective and useful compared with the traditional sliding mode control scheme.

Time-varying sliding-mode control for finite-time convergence

2010 ◽  
Vol 92 (7-8) ◽  
pp. 257-268 ◽  
Author(s):  
Yu-Sheng Lu ◽  
Chien-Wei Chiu ◽  
Jian-Shiang Chen
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Time Varying ◽  
Finite Time Convergence ◽  
Mode Control

scholarly journals Modeling and Finite-Time Walking Control of a Biped Robot with Feet

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
Juan E. Machado ◽  
Héctor M. Becerra ◽  
Mónica Moreno Rocha
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Biped Robot ◽  
Robot Dynamics ◽  
Local Diffeomorphism ◽  
Double Support ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Support Phase

This paper addresses the problem of modeling and controlling a planar biped robot with six degrees of freedom, which are generated by the interaction of seven links including feet. The biped is modeled as a hybrid dynamical system with a fully actuated single-support phase and an instantaneous double-support phase. The mathematical modeling is detailed in the first part of the paper. In the second part, we present the synthesis of a controller based on virtual constraints, which are codified in an output function that allows defining a local diffeomorphism to linearize the robot dynamics. Finite-time convergence of the output to the origin ensures a collision between the swing foot and the ground with an appropriate configuration for the robot to give a step forward. The components of the output track adequate references that encode a walking pattern. Finite-time convergence of the tracking errors is enforced by using second-order sliding mode control. The main contribution of the paper is an evaluation and comparison of discontinuous and continuous sliding mode control in the presence of parametric uncertainty and external disturbances. The robot model and the synthesized controller are evaluated through numerical simulations.

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