Lyapunov-based settling time estimate and tuning for twisting controller

Oza, Harshal B. and Orlov, Yury V. and Spurgeon, Sarah K. (2012) Lyapunov-based settling time estimate and tuning for twisting controller. IMA Journal of Mathematical Control and Information . ISSN 0265-0754. (The full text of this publication is not available from this repository)

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Official URL
http://dx.doi.org/10.1093/imamci/dnr037

Abstract

A novel switched control synthesis is developed and an upper bound on the settling time is obtained for a robust second-order sliding mode controller. The framework is based on step-by-step application of classical linear feedback design and the well-known ‘twisting’ controller. The underlying philosophy is to utilize globally exponentially stable linear feedback so that the trajectories enter an arbitrarily defined domain of attraction in finite time and then switch to the ‘twisting’ controller so that the trajectories settle at the origin in finite time. The proposed method is applied to the linear inverted pendulum to obtain an upper bound on the settling time of the closed-loop system in a full-state feedback setting in the presence of disturbances. Tuning rules to achieve the desired settling time are explicitly derived without recourse to the differential inequality of the Lyapunov function.

Item Type: Article
Uncontrolled keywords: Finite time stability, variable structure control, setting time estimate, twisting controller
Subjects: T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Faculties > Science Technology and Medical Studies > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: J. Harries
Date Deposited: 25 Apr 2012 15:43
Last Modified: 03 Jun 2014 09:36
Resource URI: http://kar.kent.ac.uk/id/eprint/29345 (The current URI for this page, for reference purposes)
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