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

Gang Liu, Qiang Niu, Alan Zinober

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-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 languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages998-1003
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - 2014
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Publication series

Name2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Conference

Conference2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/TerritorySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

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

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