Robust global high-speed finite-time switching reaching law based switched sliding mode control for uncertain multivariable nonlinear systems

摘要

The paper proposes the novel switched sliding mode control to enhance the performance of the control system with uncertainties and disturbances and adjust control behaviors to the status. With a small and moderate augmentation of the complexity, the performance of control systems is increased by the control method, which is with a new type of the reaching law - robust global high-speed finite-time switching reaching law. It is demonstrated that the control way increases the reaching speed globally, has the global robustness to uncertainties and disturbances, the property of the global finite reaching time, and no contradiction between the reduction of the system chattering and the increase of the reaching speed of the system, and reduces the chattering. Simulation studies of both the numerical example and the example of application to a rigid manipulator are carried on to validate the efficiency of the control way proposed in this paper.