Non-singular terminal sliding mode control for a class of second-order systems with mismatched uncertainty
by Ning Zhao; Ye Zhang; Xincheng Yang; Dongya Zhao
International Journal of Automation and Control (IJAAC), Vol. 16, No. 3/4, 2022

Abstract: In this study, a novel method is proposed for a class of second-order systems to solve singularity problem and mismatched uncertainty in terminal sliding mode control (TSMC). Firstly, a state transformation method is designed to eliminate the reaching phase of terminal sliding mode, which can avoid the singularity problem fundamentally. In addition, mismatched uncertainty can be transferred to the same channel with control input after state transformation. Secondly, a novel controller is designed to stabilise the new form of the system in finite-time, while the mismatched uncertainty can be compensated effectively. Numerical simulations further validate the effectiveness of the proposed method.

Online publication date: Wed, 04-May-2022

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