Adjustment of high-order sliding-mode controllers
Abstract
Two long-lasting problems of high-order sliding-mode control are solved. One of the main problems was the difficulty to properly adjust the controller parameters. A universal method is proposed, based on the homogeneity approach, which allows to make the finite-time convergence arbitrarily fast or slow. Another problem arises, when the dynamic system uncertainties are unbounded. In general, in that case only local uncertainty suppression was obtained. This restriction is also removed in the paper. The results are illustrated by computer simulation.
