Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces

Authors

FERHUN YORGANCIOĞLU
SOYDAN REDIF

DOI

10.3906/elk-1805-75

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.

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, FERHUN and REDIF, SOYDAN (2019) "Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 27: No. 3, Article 26. https://doi.org/10.3906/elk-1805-75
Available at: https://journals.tubitak.gov.tr/elektrik/vol27/iss3/26