Abstract
This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.
Highlights
In recent years, there has been significant progress in the area of designing controllers for nonlinear systems [1,2,3,4,5,6,7,8,9,10]
The disturbance-observer-based terminal sliding mode tracking control has been proposed for a class of uncertain nonaffine nonlinear systems
An on-line approximation has been proposed for a class of nonaffine nonlinear systems
Summary
There has been significant progress in the area of designing controllers for nonlinear systems [1,2,3,4,5,6,7,8,9,10]. Sliding-mode control (SMC) is a well-known efficient control scheme which has been widely applied for both linear and nonlinear systems [8, 10,11,12,13,14,15,16]. This control is considered as an effective approach for control of the systems with uncertainties. Based on the above works, this paper is to develop an integral terminal sliding mode control approach for a class of nonaffine nonlinear systems with uncertainty, parameters perturbation, and external disturbances.
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