Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty

Qiang Zhang, Hongliang Yu and Xiaohong Wang

Mathematical Problems in Engineering, 2013, vol. 2013, 1-11

Abstract:

This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.

Date: 2013
References: Add references at CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2013/636494.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2013/636494.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:636494

DOI: 10.1155/2013/636494

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().