A dynamic adjustment compensation method for finite-time sliding mode control of linear systems with input saturation

Physical systems are often affected by nonlinearities, such as saturation, which leads to the degradation of performance and stability. However, it is lacking of compensation design methods to improve transient performance for finite-time control under input saturation. To address the issue, we propose a new dynamic adjustment compensation (DAC) method for finite-time sliding mode control of linear systems with input saturation. It constructs a dynamic function where a time-varying parameter can be adjusted to enhance transient performance. The method that is applied to modify fast terminal sliding mode control designs yields a new controller that guarantees finite-time stability. An estimate of region of attraction for linear systems with input saturation is obtained by using the induced matrix norm. The advantages of the proposed method are evaluated through some simulation results of the closed loop control system of a Bernoulli air suspension gripper such that the closed-loop system is finite-time stable within the estimated region of attraction with the improved transient performance.