Turkish Journal of Electrical Engineering and Computer Sciences
Abstract
In this paper, a fast form of nonsingular, terminal, decoupled, sliding-mode control, which utilizes time-varying sliding surfaces, is proposed for a class of fourth-order, single-input, multioutput, nonlinear systems. The novel control law features a fast term, in the manner of fast terminal sliding-mode control, which markedly improves the finite-time sliding-mode convergence speed near zero. Numerical simulation results, which are illustrated with a cart-pole inverted pendulum system and a ball-beam system, demonstrate that the proposed control law achieves, in general, favorable transient response and lower steady-state errors compared to state-of-the-art decoupled terminal sliding-mode control methods.
DOI
10.3906/elk-1805-75
Keywords
Sliding-mode control, terminal sliding mode, fast nonsingular terminal sliding mode, decoupled control, time-varying sliding surfaces, fourth-order systems
First Page
1922
Last Page
1937
Recommended Citation
YORGANCIOĞLU, F, & REDIF, S (2019). Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces. Turkish Journal of Electrical Engineering and Computer Sciences 27 (3): 1922-1937. https://doi.org/10.3906/elk-1805-75
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Computer Engineering Commons, Computer Sciences Commons, Electrical and Computer Engineering Commons
