Adjustment of high‐order sliding‐mode controllers

Long-lasting problems of high-order sliding-mode (HOSM) design are solved. Only local uncertainty suppression was previously obtained in the case when the dynamic system uncertainties are unbounded. This restriction is removed in this paper. A universal method is proposed for the proper controller parameter adjustment based on the homogeneity approach. The method allows making the finite-time convergence arbitrarily fast or slow. In addition, a HOSM regularization procedure is proposed diminishing chattering. Computer simulation confirms the theoretical results. Copyright © 2008 John Wiley & Sons, Ltd.

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