Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation

Abstract : In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also presented. This implementation, while being based on strong theoretical foundations, appears to bring the present advances in the area closer to industrial application.
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Harshal B. Oza, Vincent Acary, Yury Orlov, Sarah Spurgeon, Bernard Brogliato. Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation. CDC 2012 - 2012 IEEE 51st Annual Conference on Decision and Control, Dec 2012, Maui, Hawai, United States. pp.5471-5476, ⟨10.1109/CDC.2012.6426465⟩. ⟨hal-00787139v2⟩

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