Higher Order Sliding Mode Control: A Control Lyapunov Function Based Approach
نویسنده
چکیده
The paper presents a new method for higher order sliding mode control using control Lyapunov function for chain of integrator system with nonlinear uncertainties. The stability proof of the suggested scheme is analyzed in terms of two Lyapunov functions using appropriate switching function. Using these Lyapunov functions and switching scheme it is proved that, output and its higher order derivatives converge to origin in finite time. Simulation results illustrate the efficacy of the method. Key–Words: Higher order sliding mode control, Control Lyapunov function, Finite time stability
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