-
- Roger Miranda-Colorado.
- CONACyT-Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, México, 22435, Mexico. Electronic address: rmirandaco@conacyt.mx.
- ISA Trans. 2019 Dec 1; 95: 82-92.
AbstractThis paper presents a novel finite-time sliding mode controller applied to perturbed second order systems. The proposed scheme employs a disturbance observer that can identify growing in time disturbances. Then, the observer is combined with a sliding mode controller to achieve finite-time stabilization of the second-order system. The convergence of the observer as well as the finite-time stability of the closed-loop system is theoretically demonstrated. Besides, it is also shown that the finite-time convergence properties of a given controller can be enhanced when using a compensation term based on the disturbance observer. The proposed controller is compared with a twisting algorithm and a finite-time sliding mode controller with disturbance estimation. Also, a conventional proportional integral derivative (PID) controller is combined with the proposed disturbance observer in a trajectory tracking task. Numerical simulations indicate that the proposed controller attains finite-time stabilization of the second order system by requiring a less amount of power than that demanded by the other control schemes and without being affected by the peaking phenomenon. Besides, the performance of the PID technique is enhanced by applying the proposed control methodology.Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.
Notes
Knowledge, pearl, summary or comment to share?You can also include formatting, links, images and footnotes in your notes
- Simple formatting can be added to notes, such as
*italics*
,_underline_
or**bold**
. - Superscript can be denoted by
<sup>text</sup>
and subscript<sub>text</sub>
. - Numbered or bulleted lists can be created using either numbered lines
1. 2. 3.
, hyphens-
or asterisks*
. - Links can be included with:
[my link to pubmed](http://pubmed.com)
- Images can be included with:
![alt text](https://bestmedicaljournal.com/study_graph.jpg "Image Title Text")
- For footnotes use
[^1](This is a footnote.)
inline. - Or use an inline reference
[^1]
to refer to a longer footnote elseweher in the document[^1]: This is a long footnote.
.