access icon free On SFTSM control with fixed-time convergence

© The Institution of Engineering and Technology
Received 17/11/2016, Accepted 02/01/2017, Published 06/01/2017

A singularity-free terminal sliding mode (TSM) control scheme with fast and fixed-time convergence for a class of second-order non-linear systems with matched uncertainties and external disturbances is proposed. A novel singularity-free fast TSM (SFTSM) structure is constructed and the upper-bound of convergence time is independent of initial states and can be set arbitrarily in advance. Then, the proposed SFTSM controller is designed by combining the SFTSM structure and the composite fast reaching law and the globally fixed-time stability is guaranteed and derived with the phase plane analysis and Lyapunov stability theory. Finally, the simulation results for a single inverted pendulum tracking system are included to verify the effectiveness of the proposed control method.

Inspec keywords: nonlinear control systems; stability; variable structure systems; Lyapunov methods

Other keywords: singularity-free fast TSM; Lyapunov stability theory; phase plane analysis; singularity-free terminal sliding mode control scheme; second-order nonlinear systems; single inverted pendulum tracking system; globally fixed-time stability; composite fast reaching law; SFTSM control; fixed-time convergence

Subjects: Nonlinear control systems; Multivariable control systems; Stability in control theory

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