Robust Control Design Using a Hybrid-Gain Finite-Time Sliding-Mode Controller
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866909908352368640 |
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| author | Shivam, Amit Kumari, Kiran Fontes, Fernando A. C. C. |
| author_facet | Shivam, Amit Kumari, Kiran Fontes, Fernando A. C. C. |
| contents | This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary layer with an inner mixed-power or exponential law that guarantees rapid convergence within the layer while maintaining smooth and bounded control action. The resulting control design achieves finite-time convergence and robustness to matched disturbances, while explicitly limits the control effort. The control framework is first analyzed on a perturbed first-order integrator model, and then extended to Euler-Lagrange (EL) systems, representing a broad class of robotic and mechanical systems. Comparative simulations demonstrate that the proposed controller achieves settling times comparable to recent finite-time approaches [1], while substantially reducing the control effort. Finally, trajectory-tracking simulations on a two-link manipulator further validate the robustness and practical feasibility of the proposed HG-FTSMC approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_13260 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust Control Design Using a Hybrid-Gain Finite-Time Sliding-Mode Controller Shivam, Amit Kumari, Kiran Fontes, Fernando A. C. C. Systems and Control This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary layer with an inner mixed-power or exponential law that guarantees rapid convergence within the layer while maintaining smooth and bounded control action. The resulting control design achieves finite-time convergence and robustness to matched disturbances, while explicitly limits the control effort. The control framework is first analyzed on a perturbed first-order integrator model, and then extended to Euler-Lagrange (EL) systems, representing a broad class of robotic and mechanical systems. Comparative simulations demonstrate that the proposed controller achieves settling times comparable to recent finite-time approaches [1], while substantially reducing the control effort. Finally, trajectory-tracking simulations on a two-link manipulator further validate the robustness and practical feasibility of the proposed HG-FTSMC approach. |
| title | Robust Control Design Using a Hybrid-Gain Finite-Time Sliding-Mode Controller |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.13260 |