A Second Order Sliding Mode Controller with Predefined-Time Convergence

Juan Diego Sanchez-Torres , Michael Defoort (1) , Aldo-Jonathan Muñoz-Vázquez

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper presents the basis to design a well-suited control law which guarantees predefined-time convergence for a class of second-order systems. In contrast to the case of finite-time and fixed-time controllers, a predefined-time controller allows to set the bound of the convergence time, explicitly during the control design. Furthermore, in the case of no disturbance, the least upper bound of the convergence time can be predefined directly from the control definition. A Lyapunov-like characterization for predefined-time stability is performed. Numerical results are discussed to show the reliability of the proposed method.

Mots clés: Convergence; Numerical stability; Control systems; Asymptotic stability; Stability criteria; Lyapunov methods

Domaines: Automatique / Robotique

Juan Diego Sanchez-Torres, Michael Defoort, Aldo-Jonathan Muñoz-Vázquez. A Second Order Sliding Mode Controller with Predefined-Time Convergence. 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), Sep 2018, Mexico City, Mexico. pp.1-4, ⟨10.1109/ICEEE.2018.8533952⟩. ⟨hal-03409290⟩