A novel non-singular fast terminal sliding mode control of nonlinear systems with uncertain disturbances
YANG Xiao-qian
LI Jian
DONG Yi
Abstract：A novel control scheme of non-singular fast terminal sliding mode control (NFTSMC) based on nonlinear disturbance observer (NDO) and back-stepping method is proposed for a class of nonlinear system with multiple uncertain disturbances. The uncertainty of the system can be estimated by nonlinear disturbance observer online. And the back-stepping method is used to deal with high order nonlinear systems with uncertainties. A novel non-singular fast terminal sliding controller is designed for the last step which can promise the finite time convergence and improve the steady state precision. Also, all of the disturbances estimated by the NDO are introduced into the design of virtual control laws in each step to compensate the uncertain disturbances. Under the proposed terminal sliding mode control method, the finite time convergence of all closed-loop signals is guaranteed via Lyapunov analysis. Finally, a simulation example is applied to demonstrate the efficacy of the proposed composite control method.
Keywords：back-stepping methodterminal sliding-modenonlinear observer and filter designrobust control of non-linear systems
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：7( 772-778 )