Stabilisation of perturbed chains of integrators using Lyapunov-based homogeneous controllers. Issue 12 (2nd December 2017)

• Record Type: Journal Article
• Authors: Harmouche, Mohamed; Laghrouche, Salah; Chitour, Yacine; Hamerlain, Mustapha
• Is Part Of: International journal of control. Volume 90:Issue 12(2017)
• Page Start: 2631
• Page End: 2640
• Publication Date: 2017-12-02
• Subjects: High-order sliding-mode control -- Lyapunov-based homogeneous controllers -- perturbed chain of integrators; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1262967
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: In this paper, we present a Lyapunov-based homogeneous controller for the stabilisation of a perturbed chain of integrators of arbitrary order r ≥ 1. The proposed controller is based on homogeneous controller for stabilisation of pure chain of integrators. The control of homogeneity degree is also introduced and various controllers are designed using this concept, namely a bounded-controller with minimum amplitude of discontinuous control and a controller with globally fixed-time convergence. The performance of the controller is validated through simulations.