JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2012, Vol. 42 ›› Issue (4): 74-78.

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Design of self-adaptive sliding mode controller with finite time convergence

ZHAO Zhan-shan1,2, ZHANG Jing3, SUN Lian-kun, DING Gang1   

  1. 1. School of Computer Science and Software Engineering, Tianjin Polytechnic University, Tianjin 300387, China;
    2. State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences, Beijing 100190,China;
    3. Office of Equipment and Laboratory Management, Tianjin Vocational Institute, Tianjin 300410, China
  • Received:2011-11-01 Online:2012-08-20 Published:2011-11-01

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Abstract:

A new self-adaptive sliding mode controller algorithm was proposed for a class of uncertain nonlinear systems with unknown but bounded uncertainties. The proposed solution  could stabilize the status of these systems in finite time by using geometric homogeneity and integral sliding mode control. In order to solve system uncertainties with unknown but bounded, the corresponding adaptation law was developed to evaluate the gain of the controller. The theoretic analysis based on Lyapunov theory proved that the systems with the proposed controller could be stabilized in finite time. Simulation results showed that the proposed adaptive sliding mode controller could achieve better robustness and adaptation against uncertainties.

Key words: sliding mode control, finite time stability, geometric homogeneity, robustness, adaptive law

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