An adaptive second order terminal sliding mode control for a class of uncertain nonlinear systems using disturbance observer
ZHANG Qiang
YUAN Zhu-gang
XU De-zhi
Abstract：A robust adaptive second order terminal sliding mode control method,based on recurrent perturbation fuzzy neural networks disturbance observer (RPFNNDO),is proposed for a class of uncertain nonlinear systems which exist the modeling error,parameter uncertainty and external disturbance aiming at tracking performance and strong robustness.Firstly,to have better approximation ability,RPFNNDO is presented to approximate the unknown disturbance in the systems,which combines the advantages of the recurrent networks,fuzzy neural networks and sine-cosine function.Then,in order to overcome the chattering problem in traditional sliding mode,the design process of second-order dynamic terminal sliding mode controller is given by constructing global sliding mode surface based on fast terminal sliding mode surface.At the same time,an exponential robust term can offset the impact of the approximation errors for the systems.And the stability of the closed-loop system is proved by the Lyapunov theory.Finally,the method is applied to control the chaotic synchronization of gyro systems.The results show that the proposed method is effective.
Keywords：nonlinear systemsecond order dynamic terminal sliding mode controladaptive controldisturbance observerfuzzy neural networks
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 179-187 )