Abstract

Presented is a method of continuous sliding mode control design to provide for the second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in the absence of unknown disturbances provides for finite-time convergence of the second-order reaching phase dynamics. The application of the second-order disturbance observer in combination with the proposed continuous control law gives the second-order sliding accuracy in the presence of unknown disturbances and a discrete-time control update. The piecewise constant control feedback is smooth in the sense that its derivative numerically taken at sampling rate does not contain high frequency components.

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