Adaptive Terminal Sliding Mode Control by Identifying Uncertain and Mutated Disturbance with Reference Model

Abstract

Nonlinear systems with certain parameters affected by sudden and uncertain disturbance are identified by systematic state errors from the reference model. The identification algorithm is used to design an adaptive terminal sliding mode controller. The coefficient of the switching control component is automatically adjusted according to the deviation of the system state from the sliding surface. The proposed control method makes the state of the system converge to zero but not to converge to the state of the reference model. Simulation results have proved the effectiveness of the algorithm.