Lyapunov‐based design for a class of variable‐gain 2nd‐sliding controllers with the desired convergence rate

Summary The aim of this paper is to propose a novel family of variable‐gain second‐order sliding mode controllers capable of dealing with uncertainties and disturbances that grow with the state. The proposed family provides exact compensation of perturbations having a known upper bound and generalizes some sliding controllers reported in the literature. A novelty of this work is that the designer is able to choose the desired convergence rate: semiglobal/global finite‐time or fixed‐time. The analysis and control design is completely based on a strict Lyapunov function, leading to an effective procedure to tune the gains.