A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems

作者：Xin, Linjie; Wang, Qinglin; Li, Yuan^*

来源：Mathematical Problems in Engineering, 2016, 2016: 1743861.

DOI：10.1155/2016/1743861

• FINITE-TIME CONTROL
• SYNCHRONIZATION
• TRACKING
• ROBUST

This paper considers the robust and adaptive nonsingular terminal sliding mode (NTSM) control for a class of second-order uncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a new form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an exponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme was constructed to combine the NTSM control with the adaptive technique. The benefit is that a strict demonstration can be given for the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum was performed to verify the proposed controllers.

• 出版日期2016
• 单位北京理工大学