Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer for uncertain nonlinear systems

Abstract

In this paper, a finite time control method for an uncertain nonlinear system is proposed. An adaptive sliding mode disturbance observer is designed to estimate the disturbance in finite time. The assumptions on the disturbance are relaxed in the sense that, its first derivative upper bound is considered to be unknown and only the order of its second derivative upper bound is known. Based on the output of proposed disturbance observer, a terminal sliding mode control scheme for the uncertain nonlinear system is presented. The designed control law is continuous and nonsingular. Furthermore, compared with some existing sliding mode controllers, the conditions on the controller parameters bounds are relaxed. It is proved that the disturbance observer error as well as the system states converges to the origin in finite time. Finally, the effectiveness of the proposed method is shown by numerical simulations.