Input–Output Finite-Time Asynchronous SMC for Nonlinear Semi-Markov Switching Systems With Application

Wenhai Qi, Guangdeng Zong, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

32 Citations (Scopus)


This article investigates the input-output finite-time stability (IO-FTS) for nonlinear hidden semi-Markov switching systems (S-MSSs) via the asynchronous sliding mode control (SMC) approach. Under the assumption that a detector is set up to estimate the mode value, the mode of the original system is not directly accessible. The asynchrony between the system and controller is described as a hidden semi-Markov model (HSMM). Many practical factors, such as semi-Markov switching parameters, finite-time interval, asynchronous phenomenon, uncertain parameters, and nonlinearity, are taking into account during the SMC design process. We aim to design an efficient finite-time asynchronous SMC scheme under a hidden semi-Markov switching effect. A novel sliding switching surface (SSS) is constructed, in which the SMC law rises asynchronously with original S-MSSs. Then, by means of finite-time stability, an asynchronous SMC law is synthesized to guarantee that the associated hidden S-MSSs fulfill the reaching condition within a finite time. Furthermore, sufficient conditions are derived in view of the IO-FTS of sliding mode dynamics under the framework of a novel inequality lemma. Results are given for the application of this control design method to a single-link robot arm model (SLRAM).

Original languageEnglish
Pages (from-to)5344-5353
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number8
Publication statusPublished - 2022 Aug 1

Bibliographical note

Publisher Copyright:
© 2022 IEEE.


  • Asynchronous sliding mode control (SMC)
  • hidden semi-Markov model (HSMM)
  • single-link robot arm
  • sliding switching surface (SSS)

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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