Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation

Oza, Harshal B. and Acary, Vincent and Orlov, Yury V. and Spurgeon, Sarah K. and Brogliato, Bernard (2012) Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation. In: 2012 IEEE 51st IEEE Conference on Decision and Control (CDC). IEEE, pp. 5471-5476. ISBN 978-1-4673-2065-8. E-ISBN 978-1-4673-2066-5. (doi:10.1109/CDC.2012.6426465) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:37093)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided.
Official URL: http://dx.doi.org/10.1109/CDC.2012.6426465

Abstract

In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also presented. This implementation, while being based on strong theoretical foundations, appears to bring the present advances in the area closer to industrial application.

Item Type:	Book section
DOI/Identification number:	10.1109/CDC.2012.6426465
Uncontrolled keywords:	tuning; trajectory; uncertainty; upper bound; switches; closed loop systems
Subjects:	T Technology
Institutional Unit:	Schools > School of Engineering, Mathematics and Physics > Engineering
Former Institutional Unit:	Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User:	Tina Thompson
Date Deposited:	02 Dec 2013 13:51 UTC
Last Modified:	20 May 2025 10:37 UTC
Resource URI:	https://kar.kent.ac.uk/id/eprint/37093 (The current URI for this page, for reference purposes)

University of Kent Author Information

Spurgeon, Sarah K..

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