Title: Non-singular terminal sliding mode control for a class of second-order systems with mismatched uncertainty

Authors: Ning Zhao; Ye Zhang; Xincheng Yang; Dongya Zhao

Addresses: College of New Energy, China University of Petroleum, Qingdao, 266580, China ' College of New Energy, China University of Petroleum, Qingdao, 266580, China ' College of New Energy, China University of Petroleum, Qingdao, 266580, China ' College of New Energy, China University of Petroleum, Qingdao, 266580, China

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.

Keywords: terminal sliding mode; second-order systems; singularity; mismatched uncertainty; state transformation matrix.

DOI: 10.1504/IJAAC.2022.122597

International Journal of Automation and Control, 2022 Vol.16 No.3/4, pp.272 - 287

Received: 14 May 2020
Accepted: 07 Jul 2020
Published online: 04 May 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article