A robust adaptive integral terminal sliding mode control for uncertain nonlinear systems using self-organizing wavelet cerebella model articulation controller
ZHANG Qiang
YU Hong-liang
XU De-zhi
YU Mei-juan
Abstract：We propose a robust adaptive integral terminal sliding mode control method using self-organizing wavelet cerebella model articulation controller (SOWCMAC) for a class of uncertain nonlinear systems with modeling error, parameter uncertainty and external disturbances to achieve the desired tracking performance and strong robustness. Firstly, we make use of the advantages of cerebella model articulation controller, self-organizing neural networks and wavelet function in developing the SOWCMAC to ensure the fast learning ability and desirable generalization ability. Next, we design two kinds of improved integral terminal sliding surfaces and express their convergence time in the analytical form. With the SOWCMAC and improved integral terminal sliding surfaces, we develop the robust adaptive nonsingular terminal controller for the uncertain nonlinear systems. The adaptive robust term can offset the impact of the approximation errors for the system. The stability of the closed-loop system is proved by using the Lyapunov theory. The method is applied to control the attitude system of a near space vehicle. The results show that the proposed method is effective.
Keywords：terminal sliding mode controladaptive controlfinite-time convergencecerebellar model articulation controller (C-MAC)self-organizing neural networks (SONN)
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 387-397 )