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

Linjie Xin, Qinglin Wang and Yuan Li

Mathematical Problems in Engineering, 2016, vol. 2016, 1-12

Abstract:

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.

Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:1743861

DOI: 10.1155/2016/1743861

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