Finite-time sliding mode controller with state-dependent gain parameter

Cesar U. Solis, Julio B. Clempner

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

This brief text proposes a state-dependent gain parameter added to a Fast Terminal Sliding Mode Control in order to restrict the input signal amplitude. The suggested controller involves the following properties: convergence in finite time to the equilibrium point, robustness against bounded persistent state perturbations and uncertainties in the model. In order to exemplify the contributions we exhibit an application to an underactuated rotational inverted pendulum, to stabilize it upwards.

Original languageEnglish
Title of host publicationNew Perspectives and Applications of Modern Control Theory
Subtitle of host publicationIn Honor of Alexander S. Poznyak
PublisherSpringer International Publishing
Pages317-333
Number of pages17
ISBN (Electronic)9783319624648
ISBN (Print)9783319624631
DOIs
StatePublished - 30 Sep 2017

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