Stability Analysis of a Family of Continuous State Feedback Synthesis: Theory and Experiments

다국어 초록 (Multilingual Abstract)

A family of continuous state feedback synthesis based on sliding mode control is analyzed using aLyapunov approach, such that the compensation of growing perturbations together with state variables is shown.
Robustness properties of a family of controllers, varying from the well known twisting sliding mode control law tothe PD controller, are studied. A non-smooth Lyapunov function is proposed such that global finite-time stabilityof the origin is demonstrated and tuning rules for the control gains are obtained. Moreover, since the Lyapunovfunction is strict, an upper bound for the convergence time of the closed loop system can be estimated, in spite ofthe growing perturbations with respect to the state. To illustrate the performance and robustness properties of thefeedback synthesis, experimental results are presented, using a one-link pendulum as a test bed.

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