Optimal terminal sliding-mode control for second-order motion systems

24 Jan 2020 Michael Ruderman

Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched perturbations. While TSM manifold allows for different forms of the sliding variable, which are satisfying the $q/p$ power ratio of the measurable output state, we demonstrate that $q/p=0.5$ is the optimal one for the second-order Newton's motion dynamics with a bounded control action... (read more)

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