Adaptive Vector Nonsingular Terminal Sliding Mode Control for a Class of n-Order Nonlinear Dynamical Systems with Uncertainty

Nannan Shi, Zhikuan Kang, Zhuo Zhao and Qiang Meng

Mathematical Problems in Engineering, 2020, vol. 2020, 1-12

Abstract:

This paper proposed an adaptive vector nonsingular terminal sliding mode control (NTSMC) algorithm for the finite-time tracking control of a class of n-order nonlinear dynamical systems with uncertainty. The adaptive vector NTSMC incorporates a vector design idea and novel adaptive updating laws based on the commonly used NTSMC, which consider the common existence of the degree-of-freedom (DOF) directional differences and eliminate the chattering problem. The closed-loop stability of the n-order nonlinear dynamical systems under the adaptive vector NTSMC is demonstrated using Lyapunov direct method. Simulations performed on a two-degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and advantages of the proposed adaptive vector NTSMC by comparing with the common NTSMC.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:7309417

DOI: 10.1155/2020/7309417

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