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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., Acary, Vincent, Orlov, Yury V., Spurgeon, Sarah K., 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: Proceedings of 2012 IEEE 51st Annual Conference on Decision and Control (CDC). . pp. 5471-5476. ISBN 978-1-4673-2065-8. (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)

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. (Contact us about this Publication)
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: Conference or workshop item (Paper)
DOI/Identification number: 10.1109/CDC.2012.6426465
Subjects: T Technology
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Faculties > Sciences > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: Tina Thompson
Date Deposited: 02 Dec 2013 13:51 UTC
Last Modified: 29 May 2019 11:32 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/37093 (The current URI for this page, for reference purposes)
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