Work

Non-overshooting quasi-continuous sliding mode control for second-order systems

Year: 2025

Type: article

Abstract: This paper proposes a nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest and its time derivative. The control has only one free design parameter, and the closed-loop system is shown to possess uniform boundedness and finite-time convergence of trajectories in the presence of matched disturbances. We derive a strict Lyapunov function for the closed-loop control system with a bounded exogenous perturbation, and use it for both, the control parameter tuning and analysis of the finite-time convergence. The essential features of the proposed control law is non-overshooting despite the unknown dynamic disturbances and the continuous control action during the convergence to zero equilibrium. Apart from the numerical results, a revealing experimental example is also shown in favor of the proposed control and in comparison with PD and sub-optimal nonlinear damping regulators.

Source: European Journal of Control

DOI: 10.1016/j.ejcon.2025.101355

Authors: Michael Ruderman, Denis Efimov

Institutions: University of Agder, Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Université de Lille, Centre de Recherche en Informatique, Signal et Automatique de Lille

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,850

Funders: Aurora Foundation, Norges Forskningsråd