Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The develope...

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Bibliographic Details
Published in:	ISA transactions 2013-03, Vol.52 (2), p.198-206
Main Authors:	Chen, Mou, Wu, Qing-Xian, Cui, Rong-Xin
Format:	Article
Language:	eng
Subjects:	Algorithms Computer Simulation Disturbance observer Disturbance observers Disturbances Dynamical systems Feedback Input saturation Mathematical analysis Models, Theoretical Nonlinear Dynamics Sliding mode Terminal sliding mode control Terminals Tracking control Uncertain nonlinear system
Online Access:	Get full text
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Summary:	In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, 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. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control.
ISSN:	0019-0578 1879-2022