Design of Asymptotic Second-Order Sliding Mode Control System
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A chattering-free sliding mode (SM) control system can be realized by a second-order sliding mode (2nd-SM) control based on the derivative model of the original system. In this case, the derivative of a switching function, which may be unavailable for the control implementation, is required for the finite time convergence to a 2nd-SM. In this chapter, a new asymptotic SM control algorithm, without using the derivative of the switching function, is proposed for a class of nonlinear systems, to ensure the asymptotically convergence to a 2nd-SM. The locally and asymptotically stability is guaranteed by a Lyapunov function.
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