oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
2019 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 7, p. 102792-102802Article in journal (Refereed) Published
Abstract [en]

In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the control system is demonstrated for both second-order and nth-order systems by using the Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. Vol. 7, p. 102792-102802
Keywords [en]
Integral non-singular terminal sliding mode controller, Lyapunov stability, robotic manipulator, servo-hydraulic system, trajectory tracking
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-76073DOI: 10.1109/ACCESS.2019.2930798ISI: 000481688500192OAI: oai:DiVA.org:oru-76073DiVA, id: diva2:1348654
Available from: 2019-09-05 Created: 2019-09-05 Last updated: 2019-09-05Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Palm, Rainer

Search in DiVA

By author/editor
Palm, Rainer
By organisation
School of Science and Technology
In the same journal
IEEE Access
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 3 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf