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Integral Non-Singul...
Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems
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- Asl, Reza Mohammadi (författare)
- Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland
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- Hagh, Yashar Shabbouei (författare)
- Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland
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- Palm, Rainer, 1942- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Centre for Applied Autonomous Sensor Systems (AASS)
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- Handroos, Heikki (författare)
- Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2019
- 2019
- Engelska.
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Ingår i: IEEE Access. - : Institute of Electrical and Electronics Engineers (IEEE). - 2169-3536. ; 7, s. 102792-102802
- Relaterad länk:
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https://doi.org/10.1...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the control system is demonstrated for both second-order and nth-order systems by using the Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Integral non-singular terminal sliding mode controller
- Lyapunov stability
- robotic manipulator
- servo-hydraulic system
- trajectory tracking
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