A Novel Finite-Time Controller for the Tracking Problem on the Heisenberg System

Abstract

In this paper, a novel second-order sliding-mode controller for the tracking problem on the Heisenberg system is proposed. The controller design takes into account a nonlinear change of coordinates and the selection of some particular sliding variables. These, ensure the tracking error convergence to zero in a finite time. One important characteristic of this design is the simplicity of the controller structure and the ease of tunning the gains and parameters. Additionally, the implementability of the approach is illustrated through some simulation results.