Paper Info
Title
Sliding-Mode Control of Full-State Constraint Nonlinear Systems: A Barrier Lyapunov Function Approach
Abstract
This study presents the design of a robust control based on the sliding-mode theory to solve both; the stabilization and the trajectory tracking problems of nonlinear systems subjected to a class of full-state restrictions. The selected nonlinear system satisfies a standard Lagrangian structure affected by nonparametric uncertainties. A barrier Lyapunov function is used to ensure the state constraints by designing a time-varying gain, which guarantees the fulfillment of the predefined state constraints even under external perturbations. The proposed design methodology for the barrier sliding-mode control (BSMC) ensures the convergence of the sliding surface in finite time to the origin. Consequently, the asymptotic convergence of the states to the corresponding equilibrium point is achieved. The finite-time stability of the origin in the closed-loop system with the proposed controller has been demonstrated using the second Lyapunov stability method. The suggested controller was evaluated on a two-link robotic manipulator. Then, the obtained results showed better stabilization and tracking performances (while the restrictions are satisfied) than the traditional first-order sliding-mode or linear state feedback controllers.
Year
DOI
Venue
2022
10.1109/TSMC.2022.3148695
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Keywords
DocType
Volume
Barrier Lyapunov function,output feedback controller,robust control for restricted systems sliding-mode control (SMC) design,state constraint system
Journal
52
Issue
ISSN
Citations 
10
2168-2216
0
PageRank 
References 
Authors
0.34
21
3
Name
Order
Citations
PageRank
David Cruz-Ortiz101.35
I. Chairez25115.20
Alexander S. Poznyak335863.68