High-order sliding mode control for solar tracker manipulator

Abstract

In this paper, a continuous sliding mode algorithm for a system with relative degree three is presented. The studied mechanism is a class of nonlinear system with electro-mechanical actuators which includes both matched and unmatched bounded perturbations /uncertainties. The proposed homogeneous continuous control algorithm produces a continuous control signal ensuring finite time convergence of the states to the desired trajectory. Moreover, the control signal compensates the bounded perturbation in finite time, i.e. its value converges to the opposite value of the perturbation. The quality of the presented controller is proved via numerical simulations.