Robust observer-based sliding mode controller for vehicles with roll dynamics

Ley-Rosas, Juan J.; Gonzalez-Jimenez, Luis Enrique; Loukianov, Alexander G.; Ruiz‐Duarte, Jorge E.

doi:10.1109/cdc.2016.7798356

Cited by 3 publications

(1 citation statement)

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“…Remark 4: There are several important control problems which take the form of system (8) subject to (9). For instance, (i) An output tracking problem, where s(x, t) represents the output tracking error vector; the relative degree of each output component with respect to the control input is equal to one, and the system (8) with respect to ( 9) is minimum phase [26]. The control objective is to ensure the tracking error be predefined time stable.…”

Section: A Problem Statementmentioning

confidence: 99%

A Lyapunov-Like Characterization of Predefined-Time Stability

Jiménez‐Rodríguez

Muñoz‐Vázquez

Sánchez‐Torres

et al. 2020

IEEE Trans. Automat. Contr.

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234

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This technical note studies Lyapunov-like conditions to ensure a class of dynamical systems to exhibit predefinedtime stability. The origin of a dynamical system is predefinedtime stable if it is fixed-time stable and an upper bound of the settling-time function can be arbitrarily chosen a priori through a suitable selection of the system parameters. We show that the studied Lyapunov-like conditions allow to demonstrate equivalence between previous Lyapunov theorems for predefinedtime stability for autonomous systems. Moreover, the obtained Lyapunov-like theorem is extended for analyzing the property of predefined-time ultimate boundedness with predefined bound, which is useful when analyzing uncertain dynamical systems. Therefore, the proposed results constitute a general framework for analyzing predefined-time stability, and they also unify a broad class of systems which present the predefined-time stability property. On the other hand, the proposed framework is used to design robust controllers for affine control systems, which induce predefined-time stability (predefined-time ultimate boundedness of the solutions) w.r.t. to some desired manifold. A simulation example is presented to show the behavior of a developed controller, especially regarding the settling time estimation.

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Section: A Problem Statementmentioning

confidence: 99%