Browsing by Author "ENCA/ BOUKHALFAAbdelouaheb"

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    Improved Reaching Time for Higher-Order Sliding Mode Controllers.
    (University of M’sila, 2025-06-30) BAKRI Alaeddine; ENCA/ BOUKHALFAAbdelouaheb
    This thesis addresses the design of Higher Order Sliding Mode (HOSM) controllers with optimal reaching properties for nonlinear systems with known relative degree. A robust extension of the classical Fuller’s problem—termed the Robust Fuller’s Problem—is introduced to derive control laws that ensure finite-time convergence to the sliding manifold while maintaining robustness against uncertainties. The proposed approach provides a systematic parameter tuning method and unifies various existing HOSM algorithms within a generalized theoretical framework. Simulation results validate the superior performance of the developed controllers in terms of convergence speed, chattering reduction, and disturbance rejection.