A continuous integral terminal sliding mode control approach for a class of uncertain nonlinear systems

Abstract

In this article, the continuous integral terminal sliding mode control problem for a class of uncertain nonlinear systems is investigated. First of all, based on homogeneous system theory, a global finite-time control law with simple structure is proposed for a chain of integrators. Then, inspired by the proposed finite-time control law, a novel integral terminal sliding mode surface is designed, based on which an integral terminal sliding mode control law is constructed for a class of higher order nonlinear systems subject disturbances. Furthermore, a finite-time disturbance observer-based integral terminal sliding mode control law is proposed, and strict theoretical analysis shows that the composite integral terminal sliding mode control approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of integral terminal sliding mode control. Simulation examples are given to illustrate the simplicity of the new design approach and effectiveness.

Robust Control Design using Discrete Sliding Mode Control for Higher Order Uncertain Systems

“…The sliding surface is chosen to ensure desired behavior of surface dynamics or try the states to converged to zero. A sliding surface is selected based on Ackermann formula [26] and [19]. The observer system is given in (11) is used to calculate the equivalent control law.…”

“…The auxiliary variable in (20) is defined different from that given in [19]. By virtue of the choice of the initial condition on, = 0 at .…”

“…Recently, several robust control approaches have been proposed to attenuate the undesired effects caused by the disturbances, uncertainties or the nonlinearities. Various methods applied in practical control systems, such as terminal sliding mode control [19], [20], adaptive super twisting terminal sliding mode control [21], [22], Fast terminal sliding mode control (FTSMC) [23], Nonsingular FTSMC [24], Adaptive nonsingular FTSMC [25], [26], [27], Continuous nonsingular FTSMC [28], Finite-time adaptive integral backstepping FTSMC [29]. The observer-model following design objective is to develop a control scheme which forces the plant-observer dynamics to follow the dynamics of a reference (ideal) model.…”

Finite‐time nonsingular terminal sliding mode control of converter‐driven DC motor system subject to unmatched disturbances

“…So far, different techniques have been studied in the literature in order to attenuate or eliminate chattering. One way to alleviate chattering is to use saturation function instead of signum function, but it causes scarification of the anti‐disturbance performance up to some extent 20‐22 . Another way is to select a proper controller gain, since large switching gain causes chattering.…”

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

“…19 Recently, some of the continuous ISMC are presented in literature. 20–25 But difficulties of these ISMC’s 21–25 are as follows: (a) These ISMC’s are not applied to MIMO systems, (b) The effectiveness of these ISMC’s are not validated with experimental results, and (c) sensor noises and actuator dynamics are not considered while applying these ISMC’s. The ISMC using STW is presented in Chalanga et al 20 applying it to the simple Industrial Emulator linear SISO system with matched disturbance.…”