The major contribution of this study is the feedback design of a finite-time convergence sliding mode control to solve the trajectory-tracking problem in a class of mechanical systems. Some advantages are that the controller presents a continuous signal by integration of the high-frequency switching term. Another benefit is the design and implementation of an uncertainty and disturbance estimator (UDE) to robustify the closed-loop system. We use Lyapunov tools to develop the closed-loop stability analysis and to give an expression of the convergence time [Formula: see text] t through this, we can reduce the convergence time by tuning the gains of the controller. We illustrate the performance of the proposed control structure via numerical simulations conducted for a mass-spring-damper system and experiments developed in a pendular system.

中文翻译：

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连续有限时间终端滑模求解一类机械系统的跟踪问题

这项研究的主要贡献是有限时间收敛滑模控制的反馈设计，以解决一类机械系统中的轨迹跟踪问题。一些优点是控制器通过集成高频开关项来呈现连续信号。另一个好处是设计和实现不确定性和干扰估计器 (UDE) 以增强闭环系统。我们使用 Lyapunov 工具进行闭环稳定性分析并给出收敛时间的表达式 [公式：参见文本]t通过这个，我们可以通过调整控制器的增益来减少收敛时间。我们通过对质量弹簧阻尼系统进行的数值模拟和在摆系统中开发的实验来说明所提出的控制结构的性能。