Research on adaptive time-varying terminal sliding mode control

Abstract

To resolve the problem of poor robustness when reaching the Terminal sliding mode control,a time-varying sliding mode control method was proposed.A nonlinear time-varying sliding mode surface was designed after analyzing the influences of designed parameters of sliding mode surface to the performances of system.To deal with the disturbances of a class of Multi-Input Multi-Output(MIMO) nonlinear system,a disturbance observer system was constructed.According to the disturbance observer system,the external disturbances were approached on-line by adjusting the weights.The simulation results show that,the settle-time of the proposed scheme is less than that of PID control by 80%.The proposed method has no overshoots.The simulation results demonstrate that the proposed design can be used on the control of MIMO nonlinear system.