{"title":"Adaptive full-order time-varying sliding mode control for second-order nonlinear systems","authors":"Reza Hajibabaei , Amir Pourhaji , Fengjun Yan","doi":"10.1016/j.ejcon.2025.101209","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents an innovative adaptive robust controller designed for uncertain second-order nonlinear systems. The proposed method incorporates a novel sliding surface that seamlessly blends the benefits of both time-varying and fast terminal sliding surfaces. This integration aims to eliminate the reaching phase, enhance robustness, reduce steady-state error, eradicate chattering, and avoid singularity in the control signal. Additionally, an adaptive law is formulated to estimate the bounds of uncertainties. The closed-loop stability and convergence are demonstrated using the Lyapunov stability method. Simulation results indicate the superior performance of the presented controller.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101209"},"PeriodicalIF":2.5000,"publicationDate":"2025-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"European Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0947358025000378","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents an innovative adaptive robust controller designed for uncertain second-order nonlinear systems. The proposed method incorporates a novel sliding surface that seamlessly blends the benefits of both time-varying and fast terminal sliding surfaces. This integration aims to eliminate the reaching phase, enhance robustness, reduce steady-state error, eradicate chattering, and avoid singularity in the control signal. Additionally, an adaptive law is formulated to estimate the bounds of uncertainties. The closed-loop stability and convergence are demonstrated using the Lyapunov stability method. Simulation results indicate the superior performance of the presented controller.
期刊介绍:
The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field.
The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering.
The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications.
Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results.
The design and implementation of a successful control system requires the use of a range of techniques:
Modelling
Robustness Analysis
Identification
Optimization
Control Law Design
Numerical analysis
Fault Detection, and so on.