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Finite-Time Sliding Mode Controller with State-Dependent Gain Parameter

  • Cesar U. SolisEmail author
  • Julio B. Clempner
Chapter
  • 2k Downloads

Abstract

This brief text proposes a state-dependent gain parameter added to a Fast Terminal Sliding Mode Control in order to restrict the input signal amplitude. The suggested controller involves the following properties: convergence in finite time to the equilibrium point, robustness against bounded persistent state perturbations and uncertainties in the model. In order to exemplify the contributions we exhibit an application to an underactuated rotational inverted pendulum, to stabilize it upwards.

Keywords

State-dependent Gain Fast Terminal Sliding Mode Control (FTSMC) Rotational Inverted Pendulum Furuta Pendulum Terminal Attractor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Departamento de Control Automático, CINVESTAV-IPNCiudad de MéxicoMéxico
  2. 2.Centro de Investigaciones Económicas, Administrativas y SocialesInstituto Politécnico NacionalCiudad de MéxicoMéxico

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