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

Abstract EN

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.