Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava (STU), Bratislava, Slovakia
Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava (STU), Bratislava, Slovakia
Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava (STU), Bratislava, Slovakia
Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava (STU), Bratislava, Slovakia
The saturated non-singular terminal switching function (SNTSF) for sliding mode control with speed error limitation and finite-time error convergence is proposed. The sliding-mode dynamics and the boundary layer dynamics of the SNTSF are analyzed. It is also shown that the non-singular terminal switching function does not have a higher boundary layer position tracking precision than the linear switching function, contrary to some previous claims in the literature. An SNTSF sliding mode controller with speed error limitation and finite-time convergence is proposed and tested both simulatively and experimentally on a laboratory DC motor system.
