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Finite-time sliding mode controller for perturbed second-order systems.

Roger Miranda-Colorado1

  • 1CONACyT-Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, México, 22435, Mexico.

ISA Transactions
|June 9, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a novel finite-time sliding mode controller with a disturbance observer for second-order systems. The controller achieves finite-time stabilization efficiently, outperforming existing methods and enhancing PID control performance.

Keywords:
Disturbance observerFinite-time stabilityRegulation and trajectory trackingSecond order systemSliding mode control

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Control Theory
  • Robotics and Automation

Background:

  • Second-order systems are prevalent in various engineering applications.
  • Perturbations and time-varying disturbances pose significant challenges to system stability and performance.
  • Existing control strategies often struggle with finite-time convergence and disturbance rejection.

Purpose of the Study:

  • To develop a novel finite-time sliding mode controller for perturbed second-order systems.
  • To design an integrated disturbance observer for identifying growing time-varying disturbances.
  • To achieve finite-time stabilization and enhance control performance with improved energy efficiency.

Main Methods:

  • A novel finite-time sliding mode controller (SMC) is proposed.
  • A disturbance observer is developed to estimate time-varying disturbances.
  • The disturbance observer is integrated with the SMC for finite-time stabilization.
  • Theoretical analysis demonstrates observer convergence and closed-loop finite-time stability.
  • Numerical simulations compare the proposed controller with twisting algorithm, disturbance-estimated SMC, and PID with disturbance observer.

Main Results:

  • The proposed controller achieves finite-time stabilization of second-order systems.
  • The integrated disturbance observer effectively identifies growing time-varying disturbances.
  • The controller demonstrates enhanced finite-time convergence properties.
  • Numerical simulations show reduced power consumption compared to other schemes.
  • The proposed methodology mitigates the peaking phenomenon and improves PID controller performance.

Conclusions:

  • The novel finite-time sliding mode controller with a disturbance observer offers robust and efficient control for perturbed second-order systems.
  • The disturbance observer significantly enhances the finite-time performance and stability of the closed-loop system.
  • This approach provides a promising solution for trajectory tracking and stabilization tasks requiring high precision and energy efficiency.