Title: Adaptive terminal sliding mode control of high-order nonlinear systems

Authors: Pooyan Alinaghi Hosseinabadi; Ali Soltani Sharif Abadi

Addresses: Department of Electrical Engineering, University of Malaya, 50603 Kuala Lumpur, Wilayah Persekutuan, Kuala Lumpur, Malaysia ' Department of Electrical Engineering, Yazd University, Yazd, Iran

Abstract: In recent decades, controller design has been attracted a great deal of interest of many researchers in control community which can make the job of many other researchers in different area of research easier. The present study aims to design a finite time adaptive control input for a high-order nonlinear system in presence of a variety of mismatched uncertainties and external disturbances. Adaptive terminal sliding mode control (ATSMC) method is used to design robust controller in a finite time. Also, adaptive concept is employed in ATSMC to estimate the upper bound of mismatched uncertainties and external disturbances and their estimations are used in control input. The finite time stability proof is performed by defining a proper candidate Lyapunov function. Numerical simulation results are carried out in Simulink/MATLAB to reveal the correctness of proposed design in this research. Finally, the performance criterion, integral of the square value (ISV), is defined to provide a numerical comparison between the proposed adaptive controller and non-adaptive controller.

Keywords: adaptive; finite time; SMC; high order; terminal.

DOI: 10.1504/IJAAC.2019.102670

International Journal of Automation and Control, 2019 Vol.13 No.6, pp.668 - 678

Received: 24 Apr 2018
Accepted: 05 Jul 2018
Published online: 01 Oct 2019 *

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