Stabilisation of perturbed chains of integrators using Lyapunov-based homogeneous controllers

Mohamed Harmouche , Salah Laghrouche (1) , Yacine Chitour (2) , Mustapha Hamerlain (3)

1 UTBM - Université de Technologie Belfort-Montbéliard
2 L2S - Laboratoire des signaux et systèmes
3 CDTA - Centre de Développement des Technologies Avancées

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.

Mots clés: High-order sliding-mode control; Lyapunov-based homogeneous controllers; perturbed chain of integrators

Domaines: Automatique / Robotique

Mohamed Harmouche, Salah Laghrouche, Yacine Chitour, Mustapha Hamerlain. Stabilisation of perturbed chains of integrators using Lyapunov-based homogeneous controllers. International Journal of Control, 2017, 90 (12), pp.2631-2640. ⟨10.1080/00207179.2016.1262967⟩. ⟨hal-02307511⟩