TY - JOUR
T1 - On Scheduled Space-Time Convergence: Sliding Mode Control Through the Scheduled Time Function
AU - Liu, Weixiang
AU - Sun, Yutong
AU - Ma, Haifeng
AU - Xiong, Zhenhua
AU - Liu, Zhanqiang
AU - Li, Yangmin
N1 - Funding information:
This work was supported by the Natural Science Foundation of Shandong Province under Grant ZR2022ZD06 and Shandong Provincial Key Research and Development Program (Major Scientific and Technological Innovation Project) under Grant 2020CXGC010204.
Publisher Copyright:
© ICROS, KIEE and Springer 2024.
PY - 2024/5
Y1 - 2024/5
N2 - Previous researches on sliding mode control focus on the time or space domain, regardless of the combination of the two domains. This paper presents a new scheduled space-time barrier sliding mode control (SSTBSMC) scheme for disturbed systems. The SSTBSMC scheme is established based on the designed scheduled time function (STF). One uniqueness of the proposed scheme lies in that it ensures the scheduled space-time convergence, i.e., the sliding variable can converge into a scheduled space within a scheduled time. Besides, the scheduled space and time can be predetermined regardless of the initial condition and unified uncertainty. Moreover, the SSTBSMC scheme applies a more reasonable state-preserving upper bound assumption, removing the conservative assumption of constant upper bound on the unified uncertainty. In addition, the proposed scheme mitigates the overestimation of the control gain to attenuate chattering effect. The stability of the closed-loop disturbed system is verified by theoretical analysis. The effectiveness of the proposed scheme is confirmed through a series of simulations and experimental investigations.
AB - Previous researches on sliding mode control focus on the time or space domain, regardless of the combination of the two domains. This paper presents a new scheduled space-time barrier sliding mode control (SSTBSMC) scheme for disturbed systems. The SSTBSMC scheme is established based on the designed scheduled time function (STF). One uniqueness of the proposed scheme lies in that it ensures the scheduled space-time convergence, i.e., the sliding variable can converge into a scheduled space within a scheduled time. Besides, the scheduled space and time can be predetermined regardless of the initial condition and unified uncertainty. Moreover, the SSTBSMC scheme applies a more reasonable state-preserving upper bound assumption, removing the conservative assumption of constant upper bound on the unified uncertainty. In addition, the proposed scheme mitigates the overestimation of the control gain to attenuate chattering effect. The stability of the closed-loop disturbed system is verified by theoretical analysis. The effectiveness of the proposed scheme is confirmed through a series of simulations and experimental investigations.
KW - Scheduled time function
KW - sliding mode control
KW - space-time convergence
KW - unified uncertainty
UR - http://www.scopus.com/inward/record.url?scp=85189640293&partnerID=8YFLogxK
U2 - 10.1007/s12555-022-0030-y
DO - 10.1007/s12555-022-0030-y
M3 - Journal article
AN - SCOPUS:85189640293
SN - 1598-6446
VL - 22
SP - 1545
EP - 1554
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 5
ER -