A Lyapunov Approach to Barrier-Function Based Time-Varying Gains Higher Order Sliding Mode Controllers

Authors Salah Laghrouche, Mohamed Harmouche, Yacine Chitour, Hussein Obeid, Leonid M. Fridman

Publication date 22 February 2020

Abstract: In this paper, we present Lyapunov-based {color{black}time varying} controllers for {color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {color{black}time varying} higher order sliding mode controllers since they are designed for nonlinear Single-Input-Single-Output (SISO) systems with bounded uncertainties such that the uncertainty bounds are unknown. %{color{blue} OLD: Our main result states that, given any neighborhood

v a r e p s i l o n

of the origin, we determine a controller insuring, for every uncertainty bounds, that every trajectory of the corresponding closed loop system enters

v a r e p s i l o n

and eventually remains there. Furthermore, based on the homogeneity property, a new asymptotic accuracy, which depends on the size of

v a r e p s i l o n

, is presented.} We provide a time varying control feedback law insuring verifying the following: there exists a family

(D (t))_{t g e q 0}

of time varying open sets decreasing to the origin as

t

tends to infinity, such that, for any unknown uncertainty bounds and trajectory

z (c d o t)

of the corresponding system, there exists a positive positve

t_{z}

for which

z (t_{z}) i n D (t_{z})

and

z (t) i n D (t)

for

t g e q t_{z}

. %enters convergence in finite time of all the trajectories to a time varying domain

D (t)

shrinking to the origin and their maintenance there. Hence, since the function

e t a (t)

tends to zero, this leads the asymptotic convergence of all the trajectories to zero. The effectiveness of these controllers is illustrated through simulations.

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