In this article, a novel second order sliding mode control strategy is proposed for relative-degree-2 nonlinear uncertain single- input-single-output (SISO) systems. To design the strategy, phase portrait of system in normal form associated with formulated problem studied. A surface switching between arcs parabolas conceived to ensure convergence predefined-time desired mode. Lyapunov-based ana...

A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables enables finite time reachibility and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function ...

This paper proposes a novel Hermite neural network-based second-order sliding-mode (HNN-SOSM) control strategy for the synchronous reluctance motor (SynRM) drive system. The proposed HNN-SOSM is nonlinear vector consisting of speed loop and current loop. adopts composite controller, which composed three components: 1) standard super-twisting algorithm-based SOSM (STA-SOSM) controller achieving ...

Aiming at the problem that trajectory tracking error of flexible lower limb exoskeleton robot is too large under condition external disturbance and parameters uncertainty, a composite position control method based on second-order sliding mode was proposed. Firstly, modeled by Lagrange function. Secondly, considering system affected not only matched but also unmatched disturbance, two finite tim...

This paper presents an adaptive higher order sliding mode controller based on first adaptive sliding mode control and an integral sliding variable. The idea is based on the definition of a nominal control which can stabilize a pure chain of integrators to zero in finite time. The novelty of the proposed approach is that uncertainties/perturbations effects are rejected by a first order sliding m...