In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a satur...In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a saturation function imposed on the sliding variable,which could significantly enlarge the domain of attraction for the closed-loop system.The geometric method has been utilized to prove that all the sliding variables will be steered to the origin in a finite time.Meanwhile,the relation between the control parameters and the shape of the phase trajectory has also been discussed.Finally,the proposed method has been applied to the tracking control problem for a robotic manipulator.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.61573170 and 31571571Jiangsu Natural Science Foundation for Distinguished Young Scholars under Grant No.BK20180045+1 种基金the Priority Academic Program Development of Jiangsu Higher Education Institutionsthe Six Talent Peaks Project in Jiangsu Province under Grant No.XNYQC-006.
文摘In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a saturation function imposed on the sliding variable,which could significantly enlarge the domain of attraction for the closed-loop system.The geometric method has been utilized to prove that all the sliding variables will be steered to the origin in a finite time.Meanwhile,the relation between the control parameters and the shape of the phase trajectory has also been discussed.Finally,the proposed method has been applied to the tracking control problem for a robotic manipulator.