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Fixed-time SOSM controller design with output constraint

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Abstract

In this paper, a novel fixed-time second-order sliding mode (SOSM) controller has been developed for a class of nonlinear systems with output constraints. Based on the output constraint condition, a new barrier Lyapunov function, which can be used to deal with the output constraint, is first constructed. Then, with the help of adding a power integrator technique, the SOSM algorithm can be constructed step by step. The feature of the proposed SOSM algorithm lies in that it will not only fixed-time stabilize the sliding variable to the origin, but also keep the output variable staying inside the constraint set. This also implies that the setting time of sliding variables will be independent of their initial conditions. Finally, the feasibility and effectiveness of proposed SOSM control method are verified by a numerical example and a practical pendulum system.

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Acknowledgements

This work was supported by the NSF of China (61973142), the Jiangsu Natural Science Foundation for Distinguished Young Scholars (BK20180045), the Six Talent Peaks Project in Jiangsu Province (XNYQC-006) and the PAPD of Jiangsu Higher Education Institutions.

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  1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, 212013, China

    Jiahao Yuan, Shihong Ding & Keqi Mei

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  1. Jiahao Yuan
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Correspondence to Shihong Ding.

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Yuan, J., Ding, S. & Mei, K. Fixed-time SOSM controller design with output constraint. Nonlinear Dyn 102, 1567–1583 (2020). https://doi.org/10.1007/s11071-020-06049-9

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