Reduced‐order sliding function design for a class of nonlinear systems

Abstract

In this paper, the design of first order sliding mode control (SMC) and twisting control based on the reduced order sliding function is proposed for the robust stabilization of an class of uncertain nonlinear single‐input system. This method greatly simplifies the control design as the sliding function is linear, which is based on reduced order state vector. The nonlinear system is represented as a cascade interconnection of two subsystems driving and driven subsystems. Sliding surface and SMC are designed for only the driving subsystem that guarantees the asymptotic stability of the entire system. To show the effectiveness of the proposed control schemes, the simulation results of translational oscillator with rotational actuator are illustrated.

Adaptive Fractional High‐order Terminal Sliding Mode Control for Nonlinear Robotic Manipulator under Alternating Loads

“…Sliding mode control (SMC) is a significant branch of the variable structure system (VSS), which is renowned as insensitive to system uncertainties and parameter variations. SMC has been extensively used for the satellite systems [15], robotic manipulator [16], oscillators [17], power electronics applications [18], etc. However, conventional SMC has drawbacks such as large steady-state error, slow convergence speed, singularity and chattering occurrence in the control inputs.…”