Estimator-Based Second-Order Sliding Mode Control Design for Nonlinear Systems With Unknown Input Delay
Abstract
In this article, we propose an estimator-based second-order sliding mode (SOSM) controller tailored for uncertain nonlinear systems with unknown input delay. Distinct from existing SOSM control methods, this work tackles two principal challenges: 1) the difficulty of dealing with unknown input delay, especially given the discontinuity of sliding mode controllers; and 2) the uncertainties in the nonlinear systems bounded by functions rather than widely-used constants. We begin by establishing the SOSM dynamics with input delay and uncertainties, followed by the introduction of an auxiliary compensation system. Then, we design an input delay estimator suitable for discontinuous controllers by enhancing the convex optimization method. Leveraging this, a novel estimator-based SOSM controller is constructed by adding a power integrator technique to address the input delay issue. Rigorous Lyapunov analysis is conducted to confirm the finite-time stability of the closed-loop control system. Finally, comparative simulations validate the superiority of the proposed SOSM controller.
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- Authors
- Sun, J., Zhang, M., Ma, L., Ding, S., & Yu, X.
- Affiliations
- Jiangsu University (CN)
- RMIT University (AU)
- Venue
- IEEE Transactions on Cybernetics
- Published
- 2025-12
- Volume
- 55
- Issue
- 12
- Pages
- 5780-5790
- ISSN
- 2168-2267 (ISSN-L)
- 2168-2275
- OpenAlex
- W4413677506
- Cited by
- 7
- References
- 40
- Citations by year
- 2026: 5 · 2025: 2
- FWCI
- 2.74
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Cybernetics (publishedVersion)
- PubMed (publishedVersion)
- RMIT Research Repository (RMIT University Library) (submittedVersion)
- Funders
- National Natural Science Foundation of China (62203189, 62373170)
- Australian Research Council (DP200101199)
- Natural Science Foundation of Jiangsu Province (BK20220518)
- China Postdoctoral Science Foundation (2024M751187)
- Fundamental Research Funds for the Central Universities (2242024k30037, 2242024k30038)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Keywords
- second-order sliding mode control, nonlinear systems, bounded uncertainty, power integrator, finite-time stability, Lyapunov analysis, discontinuous controllers, convex optimization
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