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Robust exact finite-time output based control using high-order sliding modes

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  • Marco Angulo
  • Leonid Fridman
  • Arie Levant

Abstract

Linear time-invariant systems with matched perturbations are exactly stabilised in finite time by means of dynamic output-feedback control under the assumptions of a permanent complete vector relative degree and bounded perturbations. The approach makes use of non-homogeneous high-order sliding-mode controllers and differentiators. A criterion of the differentiator convergence is developed for the detection of a proper time of turning on the controller. A gain adaptation strategy is proposed for both controller and differentiator. The performance with noisy discrete sampling is studied.

Suggested Citation

  • Marco Angulo & Leonid Fridman & Arie Levant, 2011. "Robust exact finite-time output based control using high-order sliding modes," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(11), pages 1847-1857.
    • Handle: RePEc:taf:tsysxx:v:42:y:2011:i:11:p:1847-1857
    DOI: 10.1080/00207721.2011.564676
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