Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems |
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| Authors: | Liang Yang Jianying Yang |
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| Affiliation: | The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, People's Republic of China |
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| Abstract: | This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd. |
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| Keywords: | terminal sliding mode fast convergence rate singularity Lyapunov stability nonlinear systems |
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