Paper Info
Title
Robustness Metrics For Nonlinear Uniform Fixed-Time Convergent Second Order Sliding Mode Control
Abstract
The super-twisting-like uniform fixed-time convergent second order Sliding Mode Control (2-SMC) provides fixed-time convergence for the state of a relative degree one system to origin in the presence of matched bounded external disturbances/uncertainties. This controller performance is guaranteed when there are no unmodeled system dynamics. However, the mathematical model representing a physical system inevitably have unmodeled dynamics. Due to the presence of unmodeled dynamics, the performance of the uniform fixed time convergent controller degrades and makes the system state converges to a periodic motion of certain amplitude and certain frequency. In this paper, the robustness of dynamically perturbed uniform fixed-time convergent SMC systems is studied and the robustness metrics are proposed in terms of Practical Stability Phase Margin (PSPM) and Practical Stability Gain Margin (PSGM). The tools/algorithms to identify PSPM and PSGM are proposed, which are deduced using Describing Function-Harmonic Balance technique. Theoretical developments are illustrated and validated via simulation results.
Year
Venue
Field
2016
2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)
Convergence (routing),Control theory,Mathematical optimization,Nonlinear system,Control theory,Computer science,Physical system,Robustness (computer science),Phase margin,System dynamics,Sliding mode control
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Chandrasekhara Bharath Panathula100.34
antonio rosales2215.44
Yuri B. Shtessel336951.65
Michael V. Basin476157.75