Super-twisting SM control for the output tracking of time-delay system

Gang Liu; Qiang Niu; Alan Zinober

doi:10.1109/ICARCV.2014.7064442

Super-twisting SM control for the output tracking of time-delay system

Gang Liu, Qiang Niu, Alan Zinober

University of Sheffield

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

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.

Original language	English
Title of host publication	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	998-1003
Number of pages	6
ISBN (Electronic)	9781479951994
DOIs	https://doi.org/10.1109/ICARCV.2014.7064442
Publication status	Published - 2014
Event	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore Duration: 10 Dec 2014 → 12 Dec 2014

Publication series

Name	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Conference

Conference	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/Territory	Singapore
City	Singapore
Period	10/12/14 → 12/12/14

Keywords

Lyapunov function
Stable system centre
Super-twisting sliding mode control
time-delay

Access to Document

10.1109/ICARCV.2014.7064442

Cite this

Liu, G., Niu, Q., & Zinober, A. (2014). Super-twisting SM control for the output tracking of time-delay system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 998-1003). Article 7064442 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2014.7064442

Liu, Gang ; Niu, Qiang ; Zinober, Alan. / Super-twisting SM control for the output tracking of time-delay system. 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 998-1003 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

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title = "Super-twisting SM control for the output tracking of time-delay system",

abstract = "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 Pad{\'e} 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.",

keywords = "Lyapunov function, Stable system centre, Super-twisting sliding mode control, time-delay",

author = "Gang Liu and Qiang Niu and Alan Zinober",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 ; Conference date: 10-12-2014 Through 12-12-2014",

year = "2014",

doi = "10.1109/ICARCV.2014.7064442",

language = "English",

series = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "998--1003",

booktitle = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",

}

Liu, G , Niu, Q & Zinober, A 2014, Super-twisting SM control for the output tracking of time-delay system. in 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014., 7064442, 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Institute of Electrical and Electronics Engineers Inc., pp. 998-1003, 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Singapore, Singapore, 10/12/14. https://doi.org/10.1109/ICARCV.2014.7064442

Super-twisting SM control for the output tracking of time-delay system. / Liu, Gang ; Niu, Qiang; Zinober, Alan.
2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 998-1003 7064442 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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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

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Liu G , Niu Q, Zinober A. Super-twisting SM control for the output tracking of time-delay system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 998-1003. 7064442. (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). doi: 10.1109/ICARCV.2014.7064442

Super-twisting SM control for the output tracking of time-delay system

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