Abstract
For higher-order nonlinear system, firstly, improved higher-order sliding mode differentiators are used as indirect disturbance observers to approximate the mismatched compound disturbance except the one which exists in the last subsystem. The estimated errors are arbitrarily small. To avoid the algebraic loop, three schemes are proposed to obtain the estimation value of mismatched compound disturbance of the last subsystem, and the error is bounded. Then, nonsingular recursive terminal sliding mode controller is designed and necessary conditions are given. Finally, it is proved that the system is stable and the tracking error is arbitrarily small. Simulation applied to a near space vehicle has proved all conclusions.
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