Name
Abstract | ||
|---|---|---|
This article addresses the issue of input-output finite-time stability (IO-FTS) for nonlinear systems by employing sliding-mode control (SMC) methodology. Many practical systems subject to complex factors, such as the single-link robot arm model (SLRAM), can be characterized as nonlinear systems. Our attention is focused on designing a fuzzy-model-based finite-time SMC law to attenuate the influences of uncertainty, nonlinear term, and external disturbance during the finite-time region. First, a novel integral sliding-mode surface is proposed based on the Takagi-Sugeno fuzzy rule. Then, by using the key point of Lyapunov function theory, an appropriate fuzzy SMC law is designed to make sure that the signal variables can arrive at a domain within the assigned fixed-time level. Moreover, some new IO-FTS criteria are constructed for the resulting sliding dynamics over the whole finite-time level, including reaching phase and sliding motion phase. Via the SLRAM, we demonstrate the effectiveness of the proposed SMC approach. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/TSMC.2019.2954854 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
Keywords | DocType | Volume |
Input–output finite-time stability (IO-FTS),Lyapunov function,single-link robot arm model (SLRAM) | Journal | 51 |
Issue | ISSN | Citations |
9 | 2168-2216 | 7 |
PageRank | References | Authors |
0.56 | 7 | 5 |