Abstract
This paper presents a high-performance nonsingular terminal sliding mode control method for uncertain second-order nonlinear systems. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. By using this method, the system not only can guarantee that the tracking errors reach the reference value in a finite time with high-precision tracking performance but also can overcome the complex-value and the restrictions of the exponent (the exponent should be fractional number with an odd numerator and an odd denominator) in traditional terminal sliding mode. Then, in order to eliminate the chattering phenomenon, a super-twisting higher-order nonsingular terminal sliding mode control method is proposed. The stability of the closed-loop system is established using the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.
Highlights
This paper presents a high-performance nonsingular terminal sliding mode control method for uncertain second-order nonlinear systems
As the development of control schemes has progressed, a variety of control systems have been developed for robotic manipulators, including proportional-integral-derivative (PID) control [1], adaptive control [2], computed torque control [3, 4], fuzzy control [5], and neural network control [6]
The conventional Sliding mode control (SMC) and super-twisting nonsingular terminal sliding mode controller are designed to ensure that the tracking error converges to zero in a finite amount time
Summary
As the development of control schemes has progressed, a variety of control systems have been developed for robotic manipulators, including proportional-integral-derivative (PID) control [1], adaptive control [2], computed torque control [3, 4], fuzzy control [5], and neural network control [6]. The main characteristic of SMC is to use discontinuous control effort to keep the system states on the sliding surfaces, whereby SMC has strong robustness with respect to system uncertainties and external disturbances, fast response, and good transient performance. The conventional SMC method cannot guarantee the invariance properties during the reaching phase and even against disturbances can degrade the performance of system [7,8,9]. This method adopts a linear sliding surface, which can only provide asymptotic stability of the system in the sliding phase
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