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Terminal sliding mode control design for uncertain dynamic systems |
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| Authors: | Yuqiang Wu Xinghuo Yu Zhihong Man |
| Affiliation: | a Faculty of Informatics and Communication, Central Queensland University, Rockhampton, QLD 4702, Australia b Department of Electrical and Electronic Engineering, University of Tasmania, Hobart, Tasmania, 7001, Australia |
| Abstract: | A terminal sliding mode control design scheme for uncertain dynamic systems in the pure-feedback form is presented in this paper. This design employs a recursive procedure which utilizes a set of switching manifolds to realize finite time convergence. To avoid a singularity problem, the scheme uses two-phase control: one phase is a preterminal sliding mode control that transfers the trajectory to a specified open region in which the terminal sliding mode control is not singular. Inside the region, the other phase – the terminal sliding mode control takes place bringing the state to the origin in finite time. |
| Keywords: | Terminal sliding mode control Finite time convergence Uncertain systems Switching manifolds Stability |
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