Improved Reaching Time for Higher-Order Sliding Mode Controllers.
Loading...
Date
2025-06-30
Journal Title
Journal ISSN
Volume Title
Publisher
University of M’sila
Abstract
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.