TY - GEN
T1 - Super-twisting SM control for the output tracking of time-delay system
AU - Liu, Gang
AU - Niu, Qiang
AU - Zinober, Alan
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - This paper investigates the output tracking results of SISO time-delay system using the super-twisting sliding mode control approach. By a system transformation and Padé approximation, the output tracking of time-delay system is transformed into the tracking of a nonminimum phase system. Stable system centre approach is used to approximate this system by a stable one. All the tracking errors and errors from the system centre will approach to zero in a finite time by the proposed super-twisting sliding mode (SM) control. An one-link robot nonlinear example is studied to show the effectiveness of this methodology.
AB - This paper investigates the output tracking results of SISO time-delay system using the super-twisting sliding mode control approach. By a system transformation and Padé approximation, the output tracking of time-delay system is transformed into the tracking of a nonminimum phase system. Stable system centre approach is used to approximate this system by a stable one. All the tracking errors and errors from the system centre will approach to zero in a finite time by the proposed super-twisting sliding mode (SM) control. An one-link robot nonlinear example is studied to show the effectiveness of this methodology.
KW - Lyapunov function
KW - Stable system centre
KW - Super-twisting sliding mode control
KW - time-delay
UR - http://www.scopus.com/inward/record.url?scp=84949925746&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2014.7064442
DO - 10.1109/ICARCV.2014.7064442
M3 - Conference Proceeding
AN - SCOPUS:84949925746
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 998
EP - 1003
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -