Nonsmooth finite-time control of uncertain second-order nonlinear systems

Nonsmooth finite-time stabilizing control laws have been developed for the double integrator system. The objective of this paper is to further explore the finite-time tracking control problem of a general form of uncertain second-order affine nonlinear system with the new forms of terminal sliding mode (TSM). Discontinuous and continuous finite-time controllers are also developed respectively without the singularity problem. Complete robustness can be acquired with the former, and enhanced robustness compared with the conventional boundary layer method can be expressed as explicit bounded function with the latter. Simulation results on the stabilizing and tracking problems are presented to demonstrate the effectiveness of the control algorithms.

Nonsmooth finite-time control of uncertain second-order nonlinear systems

Nonsmooth finite-time stabilizing control laws have been developedfor the double integrator system. The objective of this paper is tofurther explore the finite-time tracking control problem of ageneral form of uncertain second-order affine nonlinear system withthe new forms of terminal sliding mode (TSM). Discontinuous andcontinuous finite-time controllers are also developed respectivelywithout the singularity problem. Complete robustness can be acquiredwith the former, and enhanced robustness compared with theconventional boundary layer method can be expressed as explicitbounded function with the latter. Simulation results on thestabilizing and tracking problems are presented to demonstrate theeffectiveness of the control algorithms.